Isolating robotic actuators from food and beverage preparation

ABSTRACT

Provided is a device, comprising: a barrier configured to impeded or prevent particles shed by a robot in a first volume of space from entering a second volume of space in which the robot manipulates a workpiece; and a robot having three or more degrees of freedom, the robot comprising: a first portion disposed on a first side of the barrier in the first volume, the first portion comprising an actuator of the robot, the actuator being configured to drive movement of the robot to manipulate the workpiece; and a second portion disposed on a second side of the barrier in the second volume, the second portion comprising an end-effector of the robot by which the robot makes contact with the workpiece.

CROSS-REFERENCE TO RELATED APPLICATIONS

This patent application is a continuation of U.S. patent applicationSer. No. 16/600,463, filed 12 Oct. 2019, titled “ISOLATING ROBOTICACTUATORS FROM FOOD AND BEVERAGE PREPARATION,” which claims the benefitof U.S. Provisional Patent Application 62/745,117, filed 12 Oct. 2018,titled “ROBOTIC SYSTEM TO CONVEY OPEN-TOP VESSELS.” The entire contentof each afore-listed earlier-filed application is hereby incorporated byreference for all purposes.

BACKGROUND 1. Field

The present disclosure relates generally to robotics and, morespecifically, to robots for food and beverage preparation.

2. Description of the Related Art

Robots are frequently used to perform routine or dangerous tasks.Examples include use of robots in disaster zones, like in irradiatedareas after the Fukushima disaster, and use of robots in assembly linesfor manufacturing automobiles or semiconductor devices. Generally, inthese use cases, designers of robots have relatively loose constraintsin terms of cost and space occupied by the robots. Often, such robotscost hundreds of thousands or millions of dollars, and in many cases,the robots consume relatively large amounts of area when operating.

There are, however, many potential use cases for robots that have muchtighter cost and space constraints. Many consumer-facing use casescannot support the cost or space allocation for some traditional robots.Examples include geographically distributed food and beveragepreparation robots, for instance, robots deployed to brick-and-mortarlocations in which consumers frequent and robots on vehicles deliveringand dispensing food and beverage products to consumers. Often, these usecases involve a relatively large number of geographically-distributedinstances of the robot used to service a market, like the United States,and in many cases, those robots consume valuable space that could be putto other uses, like floor space in a retail store or office building.

Particular challenges arise in the context of robots handling open-topvessel, like cups, test tubes, tubs, barrels, and the like, which areused to carry liquids in a variety of scenarios, including duringpreparation of liquid-state drugs and beverages. Automated transport ofthese vessels, however, often presents challenges. Examples includespilling liquids, bottlenecks in manufacturing processes, andconstraints on vessel dimensions that place the liquid surface near thetop of the vessel. As a result, transportation and handling of thesevessels is done manually in many scenarios. Similar issues arise in thecontext of conveying loose solids, like grains, salads, cereal, and thelike in open-top vessels.

SUMMARY

The following is a non-exhaustive listing of some aspects of the presenttechniques. These and other aspects are described in the followingdisclosure.

Some aspects include a device, comprising: a controller; a firstactuator configured to be controlled by the controller; a first primarymember, located on the first actuator; a first secondary member; and asheet having a first side and a second side, wherein: the first primarymember is located on the first side of sheet and the first secondarymember is located on the second side of sheet, the first primary memberis coupled to the first secondary member across the sheet via a couplingforce, and the first secondary member is configured to slide on thesecond side of the sheet, following the first primary member, actuatedby the first actuator based on instructions from the controller.

Some aspects include a device, comprising: a barrier configured toimpeded or prevent particles shed by a robot in a first volume of spacefrom entering a second volume of space in which the robot manipulates aworkpiece; and a robot having three or more degrees of freedom, therobot comprising: a first portion disposed on a first side of thebarrier in the first volume, the first portion comprising an actuator ofthe robot, the actuator being configured to drive movement of the robotto manipulate the workpiece; and a second portion disposed on a secondside of the barrier in the second volume, the second portion comprisingan end-effector of the robot by which the robot makes contact with theworkpiece.

BRIEF DESCRIPTION OF THE DRAWINGS

The above-mentioned aspects and other aspects of the present techniqueswill be better understood when the present application is read in viewof the following figures in which like numbers indicate similar oridentical elements:

FIG. 1 is a block diagram depicting an example of an alimentary-productpreparing robot consistent with some embodiments of the presenttechniques;

FIG. 2 is a perspective view of an example of a kiosk in which therobots described herein may be housed consistent with some embodimentsof the present techniques;

FIG. 3 is a perspective view of a robot for moving a workpiececonsistent with some embodiments of the present techniques;

FIG. 4 is an elevation view of another robot for moving a workpiececonsistent with some embodiments of the present techniques;

FIG. 5A is a perspective view of an end-effector coupling and endeffector for moving a workpiece consistent with some embodiments of thepresent techniques;

FIG. 5B is a perspective view illustrating various degrees of freedom ofan example robot for moving a workpiece consistent with some embodimentsof the present techniques;

FIG. 6 is another perspective view illustrating various degrees offreedom of a robot for moving a workpiece consistent with someembodiments of the present techniques;

FIG. 7A is a cross-sectional elevation view of an end-effector couplingand end effector of an example robot consistent with some embodiments ofthe present techniques;

FIG. 7B is another cross-sectional elevation view of an end-effectorcoupling and end effector of a robot consistent with some embodiments ofthe present techniques;

FIG. 8A is a perspective, partially occluded line drawing, partiallywire framed line drawing of an end-effector coupling of a robotconsistent with some embodiments of the present techniques;

FIG. 8B is a perspective view of another an end-effector coupling of arobot consistent with some embodiments of the present techniques;

FIGS. 9A through 9F illustrate various stages in movement of a robotconsistent with some embodiments of the present techniques;

FIG. 10 is a wire frame elevation view of an end-effector coupling andend effector of a robot consistent with some embodiments of the presenttechniques;

FIG. 11 is a cross-sectional perspective view of an end-effectorcoupling and end effector of a robot consistent with some embodiments ofthe present techniques;

FIG. 12 is a perspective view illustrating various degrees of freedom ofa robot consistent with some embodiments of the present techniques;

FIGS. 13A through 13G illustrate various ways in which a robotmanipulates one or more workpieces consistent with some embodiments ofthe present techniques;

FIGS. 14A through 14H illustrate various ways in which a robotmanipulates one or more workpieces consistent with some embodiments ofthe present techniques;

FIG. 15 is a cross-sectional elevation view of an end-effector couplingand end effector of a robot consistent with some embodiments of thepresent techniques;

FIG. 16 is a cross-sectional elevation view of an end-effector couplingand end effector of a robot consistent with some embodiments of thepresent techniques;

FIGS. 17A through 17G illustrate various ways in which a robotmanipulates one or more workpieces consistent with some embodiments ofthe present techniques;

FIG. 18 is a flowchart of a process by which a food or beverage productis ordered by interacting with a robot consistent with some embodimentsof the present techniques;

FIG. 19 is a cross-sectional perspective view that illustrates anexample of a robot consistent with some embodiments of the presenttechniques;

FIG. 20 is a perspective view of a working area of a robot with anenclosure consistent with some embodiments of the present techniques;

FIGS. 21A through 21F are plan views of the arrangement of FIG. 20 ,illustrating sequential stages in a maneuver by which a workpiece isremoved from the enclosure of FIG. 20 consistent with some embodimentsof the present techniques;

FIG. 22 is a wireframe perspective view of a workpiece that functions asan end effector consistent with some embodiments of the presenttechniques;

FIG. 23 is a cross-sectional elevation view of an end-effector mount andthe end effector of FIG. 22 consistent with some embodiments of thepresent techniques;

FIG. 24 is a perspective view of an example of a workpiece ejector inthe retracted position consistent with some embodiments of the presenttechniques;

FIG. 25 is a perspective view of the workpiece ejector of FIG. 24 in theextended position consistent with some embodiments of the presenttechniques; and

FIG. 26 is a block diagram of a computing device by which roboticcontrollers may be implemented consistent with some embodiments of thepresent techniques.

While the present techniques are susceptible to various modificationsand alternative forms, specific embodiments thereof are shown by way ofexample in the drawings and will herein be described in detail. Thedrawings may not be to scale. It should be understood, however, that thedrawings and detailed description thereto are not intended to limit thepresent techniques to the particular form disclosed, but to thecontrary, the intention is to cover all modifications, equivalents, andalternatives falling within the spirit and scope of the presenttechniques as defined by the appended claims.

DETAILED DESCRIPTION OF CERTAIN EMBODIMENTS

To mitigate the problems described herein, the inventors had to bothinvent solutions and, in some cases just as importantly, recognizeproblems overlooked (or not yet foreseen) by others in the field ofrobotics. Indeed, the inventors wish to emphasize the difficulty ofrecognizing those problems that are nascent and will become much moreapparent in the future should trends in industry continue as theinventors expect. Further, because multiple problems are addressed, itshould be understood that some embodiments are problem-specific, and notall embodiments address every problem with traditional systems describedherein or provide every benefit described herein. That said,improvements that solve various permutations of these problems aredescribed below.

A variety of problems relating to alimentary-product assembling anddispensing robots are addressed by various versions of techniquesdescribed below. These different techniques can be used together,synergistically in some cases, so their descriptions are grouped into asingle description that will be filed in multiple patent applicationswith different claim sets targeting the different techniques andcombinations thereof. In view of this approach, it should be emphasizedthat the techniques are also independently useful and may be deployed inisolation from one another or in any permutation combining the differentsubsets of techniques, none of which to suggest that any otherdescription herein is limiting.

Some of the present techniques are described with reference to anautomated beverage preparation system 150 shown in FIG. 1 . It should beemphasized, though, that the present techniques are applicable to theassembly and vending of all wide variety of different alimentaryproducts and other products (which is not to suggest that any otherdescription is limiting). Examples include various types of beverages,like coffee, tea, cocktails, smoothies, and the like. Other examplesinclude various types of food products built from assembled solids, likesalads, bowls of quinoa, hotdogs, pizzas, yogurt, and the like.

In some embodiments, the system 150 minimizes or reduces contact byrobotic parts with the alimentary products via a barrier. Spilledliquids and loose solids, in some cases, can interfere with theoperation of moving parts of robots, and some embodiments reduce theamount, frequency, and intensity of such interactions with a barrierthat shields at least some moving parts in some embodiments. In someembodiments, the barrier prevents or reduces an amount of particles shedby actuators and other moving parts of robots that accumulate inassembled food and beverage products. In some embodiments, the barrierprevents or reduces contamination of the robotic parts through possibleleakage or spill of the alimentary products. That said, embodiments arenot limited to systems that afford all of these benefits, which is notto suggest that any other feature described is limiting.

In some embodiments, the automated beverage preparation system 150comprises a coffee preparation system controller 152 that interfaceswith and controls operation of a robotic system 154 and a beveragepreparation system 156, as well as operation supports system 158. Thevarious components may communicate via machine-readable instructions,like various digital or analog signals sent on a control bus of thesystem 150 connecting the various components. The automated beveragepreparation system 150 may function as an autonomous beveragepreparation system that is run by the system controller 152.

In some embodiments, system 150 comprises a surveillance systemconfigured to monitor the automated beverage preparation system 150 viaa plurality of contact sensors, motion sensors, and cameras. In someembodiments, the surveillance system can be turned off for maintenancepurposes by the authorized personnel. In some embodiments, thesurveillance system is connected to the system controller 152 via asystem bus.

In some embodiments the system controller 152 comprises a centralprocessing unit, such as a microprocessor, and a number of otherprocessors (like downstream motor controllers) interconnected via asystem bus. The system controller 152 may further include random accessmemory (RAM), read only memory (ROM), an input/output adapter forconnecting to the system bus and peripheral devices. Some embodimentsmay include a solid-state drive, a keyboard, a mouse, a speaker, amicrophone, or other user interface devices, such as a touch screendisplay and a digital camera. The system controller 152 may haveresident thereon an operating system and an application that implementsthe functionality described herein, e.g., executing on a computingdevice like that described below with reference to FIG. 26 .

In some embodiments, the system controller 152 is configured to maintainand service a queue of orders. The system controller 152 may place areceived order into the queue according to a delivery time assigned bythe user placing the order. In some embodiments, the system controller152 may assign a priority to each order or some may apply a “first in,first out” policy. In some embodiments, system controller 152 may assigna priority to each order based on the delivery time, time an order wasreceived, preparation time, wait time for workstations needed tocomplete the order, and various other parameters. In some embodiments,the system controller 152 may apply bin-packing optimization algorithmto effectuate a greedy or global optimization of throughput,minimization of maximum wait time for a user, or weighted combinationthereof. Or various other scheduling algorithms are discussed below.

In some embodiments, the system controller 152 may applymachine-learning techniques to learn from previous operations tooptimize or otherwise improve operations and maintenance of theautomated beverage preparation system 150. Some embodiments identifypatterns across multiple (e.g., 2 or more, 3 or more, 5 or more, 10 ormore, or 40 or more) variables to optimize operation of the automatedbeverage preparation system 150. Some embodiments may adjust the timingbetween workstations and the sequences among those workstations toincrease throughput. For examples, if a dairy addition station has along wait time (e.g. more than 5 minutes) and it has been determinedthat a coffee would taste better if the milk is added to the cupimmediately after pouring the coffee to keep the diffusion rate as highas possible (higher temperature causes higher diffusion rates), thesystem controller 152 may adjust the time of coffee addition to beimmediately before the milk addition station becomes available.

In some embodiments, the system controller 152 is configured to receiveinstructions from customers and related data regarding their order. Insome embodiments, the customer instructions are received via a wirelessnetwork, a wired network, or a combination thereof. In some embodiments,the customer instructions are received via an internet connection, e.g.,orders entered via a native application or web application on a user'smobile computing device. Some embodiments receive orders via atouchscreen display. Some embodiments receive orders via atext-to-speech chatbot interface, e.g., implemented with Dialogflow™.The customer instruction may be transformed into device-specificinstructions distributed by the system controller 152 to other sectionsof the automated beverage preparation system 150 such as the roboticsystem 154.

In some embodiments, the beverage preparation system 150 is housed byhousing 160 of FIG. 2 , such as a kiosk. In some embodiments, the systemhousing 160 is designed to prevent or impede unauthorized access intothe internal spaces of the system housing, e.g., into a working area ofa robot, like in spaces within a range of movement of an end effector orvarious actuators coupled thereto. In some embodiments, robotic system154, the beverage preparation apparatus 156, and the operation supportsystem 158 are also disposed inside the system housing 160. In someembodiments, system 150 in housing 160 may be located within a publiclyaccessible area, such as a lobby of an office building or in an airportlounge. In some embodiments, system 150 may be a vehicle-mounted robot,like a food truck, or delivery van, in which food products are assembledwhile parked or while on the way to deliver the food products.

In some embodiments, the kiosk 160 is a freestanding structureconfigured to be carried on the back of a truck and conveyed into abrick-and-mortar establishment, for instance, via a loading dock, forexample, with retractable, height-adjustable wheels mounted underneaththe kiosk 160. In some embodiments, the kiosk 160 may include interfacesfor connecting to a building's electrical system, water supply, andwastewater system. In some embodiments, the kiosk 160 may include ashielded lower volume 162 inside the kiosk in which the roboticactuators described below are disposed. That region may be isolated froman upper working volume 164 in which food or beverage products areprepared. In some embodiments, isolation is achieved via a barrier 166disposed between the lower volume 162 and the working volume 164. Insome cases, end effectors disposed above the barrier may magneticallycouple to an end-effector coupling below the barrier 166 as describedbelow.

In some embodiments, the barrier 166 is a rigid, magneticallytransparent, sheet of generally uniform thickness, for instance, varyingless than 40% in thickness. In some embodiments, the sheet is less thana centimeter thick, such as less than 5 mm thick. In some embodiments,the sheet forming the barrier 166 is generally planar and horizontal,for example, having a maximum deviation from a plane normal to a vectorof gravity of less than 4 cm, for instance, less than 2 cm, over an arealarger than one half square meter, for instance, larger than one squaremeter. In some embodiments, workpieces, like cups or bowls, may bedelivered to a window 168, which in some cases may include a barrierthat automatically retracts when a customer is permitted to retract afinished work piece, or some embodiments may have a sequence of barriersthat act like an airlock. In some embodiments, workpieces may be movedwithin the working volume 164 by end effectors like those describedbelow, for instance, to various dispensing stations. In someembodiments, the working volume 164 may be substantially or entirelyshielded by windows and other barriers to prevent customers fromreaching into the working area.

In some embodiments, other types of barriers may be applied to reduce oreliminate robot-shed particles within the working volume 164. In someembodiments, the system 150 may include a fan or blower, and workingvolume 164 may be maintained at a positive air pressure relative to theunderlying area 162 to drive such particulates out of the working volume164. In some embodiments, a cup or bowl is moved by sliding it along thetop surface of the barrier 166 consistent with the techniques describedbelow, or in some cases, the workpiece is held static, and dispensingstations are moved, for instance, opposite a barrier disposed above aworkpiece with an aperture through which substances are dispensed intothe work piece. In some cases, the barrier is wood, transparent glass,translucent (e.g., frosted) glass or plexiglass, or opaque glass orplexiglass. In some cases, end effectors, like a coaster-shaped puck ora collection of magnetic fingers described below, translate (e.g., slideor roll) along a top surface of the barrier 166 within the workingvolume 164 to access and move workpieces, like cups or bowls.

In some embodiments, the automated beverage preparation system 150 movesopen-top vessels (a term which includes vessels to which a top is lateradded as part of an assembly process, e.g., after adding coffee) amongvarious workstations for order assembly. As noted, transport of open-topvessels presents challenges. One approach is to move open-top vesselsbetween work stations, such as steps in a manufacturing process, by aconveyor belt, e.g., along an assembly-line in which the conveyer belttransports the open-top containers between work stations and stops ateach work stations. One shortcoming of many conveyer belts is that theyadvance vessels in a linear manner, serially through the workstations,in synch. In many cases, conveyor systems cannot be programmed toresequence stops at some of the work stations, independently of movementto or from other workstations, instead of going through all of them insynch and in series. This may be inefficient if the products arerelatively heavily customized, and the open-top vessels undergorelatively diverse sets of processes for relatively diverse amounts oftime. As a result, many relatively variable processes involving open-topvessels are performed manually, which is typically not an economicalpractice at scale for many applications. Another approach to movingvessels is to use a six-axis robot or a robot with even more degrees offreedom. Such robots, however, are often relatively expensive due theactuators, drives, and controls associated with higher degrees offreedom, and such robots often consume a relatively large volume of areato operate, as their arms may swing vertically through relatively largevolumes of space. None of which is to suggest that these or any othertechniques are disclaimed, as the various inventive approaches describedherein may be used independently of one another.

Some embodiments mitigate some of these challenges with a programmableconveying system that can perform in a dynamic non-linear manner. Someembodiments transport open-top vessels with an actuator having twodegrees of freedom of movement to move the vessels about a plane thatfacilitates bypassing other vessels and increasing the throughput of theautomated beverage preparation system 150. In some cases, workpieces aresupported and can remain static on a work surface while other workpiecesare transported, e.g., one cup may be moved by a given actuator whileanother is filled, before the other cup is then moved by the sameactuator. Some embodiments transport open-top vessels with an actuatorhaving more than two degrees of freedom of movement relative to a set ofworkstations such as movement in x-y directions (e.g., along two axesorthogonal to one another and gravity) and rotation around the z axis(e.g., an axis parallel to gravity) or movement in x-y-z directions,e.g., a robot with three and only three degrees of freedom. Someembodiments asynchronously transport the vessels along routes that arenon-linear and are feasible for actuators having two or more than twodegrees of freedom of movement (e.g., two and exactly two, or three andexactly three, or four and exactly four degrees of freedom). Someembodiments are expected to expedite the process of manufacturing liquidproducts (such as various beverages) or various dry-goods products inopen-top vessels by asynchronously transporting the open-top vesselsalong dynamically determined or pre-determined routes, while doing sowith relatively cost and space efficient robots. In some embodiments,instructions regarding customized routing and non-linear movement ofopen-top vessels across the workstations are sent from the systemcontroller 152 to the robotic system 154. The techniques herein aredescribed with reference to liquids, but the use cases with loose solidsare also contemplated.

FIG. 3 is a perspective view of an example of an x-y motion system 180having three degrees of freedom (two for the motion system and one foran end effector) in accordance with some embodiments of the presenttechniques. The x-y motion system 180 may include a gantry 182 having afirst end and a second end. Gantry 182 may be a beam that extends (e.g.,in a longest dimension) orthogonal to rails 184 and 186. Ends of thegantry 182 may be arranged to move along rails or mounts 184 and 186,respectively, each having a first end and a second end. In someembodiments, the rails 184 and 186 are parallel. In some embodiments, aplurality of gantries are arranged to move along rails. In someembodiments, the gantries cannot pass over each other because they areposition in a plane parallel to a plane passing through the rails. Insome other embodiments, the gantries may pass over each other. It shouldbe noted terms parallel and perpendicular may include up to ±5 degreesdeviation. For example, two lines are still considered perpendicular ifthe lines form an angle between 85° to 95°.

The gantry 182 is placed perpendicular to the rails 184 and 186 and atthe same height from the rails 184 and 186. The gantry 182 may be drivenin the y axis by an actuator (e.g., a motor, like a stepper motor)coupled to the rail 184 or the rail 186. The motor may operate under thecontrol of the system controller 152, which may receive positionfeedback from sensors (or flags, where the sensor is mobile) placed onthe rail 184 or the rail 186. Similarly, x-axis actuator (e.g., a motor,like a stepper motor) may be coupled to the gantry and the operation ofthe x-axis motor is controlled by the control of the system controller152, which may receive position feedback from sensors (or flags, wherethe sensor is mobile) placed on the gantry 182. In some embodiments, thesensors are position sensors. In some embodiments, the position sensorsare non-contact sensor, such as a capacitive, ultrasonic, Hall effect,inductive, or optical sensors. In some embodiments, an actuator mayinclude a stepper motor, induction motor, piezo-electric motor,pneumatic motor, a pneumatic piston, a hydraulic motor, a hydraulicpiston, or the like. In some embodiments, an actuator is coupled to adrive, like a transmission, a gear reducer, a pinion and a rack, a screwdrive, or the like. A drive may be used to convert the high-speedrotation of the shaft of a motor to the slower but more powerfulrotation of the output of the gear reducers, or in some cases, toconvert rotational movement to linear translation. The output shaft ofeach of the gear reducers (not shown) may be connected to respectivepinions in some embodiments. The pinions may engage racks (not shown),which may be mounted on the walls of the gantry 182, and rails 184 and186.

In some embodiments, the x-y motion system 180 may have two rails and agantry, as shown in FIG. 3 , having a H-shape configuration. In someembodiments, the x-y motion system 180 has one rail and a gantry (notshown) having a T-shape configuration. Or in some embodiments, thegantry extends from opposing sides of a circular rail, and the gantryrotates about a central vertical axis, like a circle with a line thatbisects the circle.

A carrier 188 may be coupled to gantry 182. The system controller 152may be able to detect x and y axes positions of the carrier 188 basedupon signals from sensors and may be able to move the carrier 188 alongthe x and y axes. The carrier 188 may reach various point along the xaxis between the first end and the second end of gantry 182 and anypoint along the y axis between the first end and the second end of rail184 or 186. The area or volume reachable by a robot is referred to as aworking area or working volume.

In some embodiments, the carrier is configured to receive an open-topvessel to be moved by the x-y motion system 180. In some embodiments,the open-top vessel is a cup carrying, or configured to carry, coffee orsimilar beverages.

In some embodiments, the system controller 152 may compute theacceleration and speed of the carrier, by the x-y motion system 180, toprevent, or reduce the likelihood of, spills from the open-top vessel.The controller system 152 may use a different acceleration and speedprofiles (e.g., ramp rates) based on how full the open-top vessel is.For example, the controller system 152 may apply a higher accelerationfor an empty open-top vessel compared to a half full open-top vessel,and the controller may apply a higher acceleration to a half-full vesselthan an empty vessel to avoid tipping over an empty vessel with arelatively high center of gravity. In some embodiments, the systemcontroller 152 may compute the acceleration and speed of the carrierbased on the geometry of the open-top vessel. For example, if a vesselhas a narrow opening a higher speed may be employed compare to a vesselwith a very wide opening. In some embodiments, the speed andacceleration profiles are adjusted based on the characteristics of theliquid (e.g. viscosity) inside the open-top vessels.

In some embodiments, the actuators of gantry and rails can operateconcurrently to reduce the time to move the carrier from a firstlocation to a second location in an x-y plane. In some embodiments, tomove the carrier from a first location to a second location in the x-yplane, first the actuator of the rail is activated to move along the yaxis and then the actuator of the gantry is activated to move along thex axis. In some embodiments, the system controller may instruct theactuators to operate in a specific order, or some may operateconcurrently (e.g., to move diagonally or in a Bezier curve path (whichmay be computed by the controller based on a start and end position)that is relatively aesthetically pleasing to users viewing through awindow of the kiosk). Such instructions may be based on various reasonssuch as preventing collision of vessels, planned stops at variousstations along the way, etc.

In some embodiments, sensors are placed on only one of the rails 184 or186. In some embodiments, sensors are placed on both rails 184 and 186.Or in some cases, sensors are mobile and flags (e.g., optical flags ormagnetic flags) are static and sensed by the mobile sensor. In someembodiments, to increase the accuracy of the position of the carrier,the system controller 152 calculates the position of the carrier alongthey axis using a weighted combination of signals, e.g., byinterpolating the positions received from the sensor on rail 184 and thesensor on rail 186. In some embodiments, a motor or other actuator iscoupled to only one of the rails 184 or 186. In some embodiments, anactuator or a motor is coupled to both rails 184 and 186. In someembodiments, machine-readable position-encoded scales in line withgantry 182, and rails 184, and 186 are used instead of sensor to locatethe position of the carrier 188. The machine-readable position-encodedscales may be printed on a substrate having a zero coefficient ofthermal expansion in the operational temperature of the automatedbeverage preparation system 150 (e.g. 10-40° C.).

In some embodiments, a grid 190 (or randomized pattern in whichdifferent locations have unique sets of features in a field of view of acamera) may be placed directly below the x-y motion system 180. The gridmay be parallel to the barrier, under or above the gantry 182, and rails184, and 186. A visual odometry sensor may be placed on the carrier 188with a field of view oriented to read the instantaneous x and ypositions of the gantry based on features in the field of view of thecamera. In some embodiments, no calibration is needed other than anoptional one-off mapping against an absolute standard to further enhanceaccuracy.

In some embodiments, a specific location along the gantry 182 and therails 184 and 196 is determined to be used for re-calibration of thex-y-motion system, e.g., a magnetic flag sensed with a Hall-effectsensor or an optical flag sensed with an optical sensor. For example,the specific location can be the first end of the gantry system and thefirst end of the rail 184. It should be noted the length of the rails184 and 186 are not necessarily the same.

In some embodiments, a plurality of gantries are positioned on the rails184 and 186 (or another gantry may run on another set of rails above,below, between, wider than, or interdigitated with those shown). Theplurality of gantries may operate at the same height or they may passover each other in some embodiments.

Using a x-y motion system or other two-degree-of-freedom robots mayreduce space and parts costs of a robot relative to six axis or higherdegree of freedom robotic arms. An x-y motion system can be placed undera tabletop surface with less space needed compared to other types ofrobotics, such as six-axis robotic arms. An x-y motion system or othertwo-degree-of-freedom robots may be also cheaper than other robotics tobe used in an automated beverage preparation system to move open-topvessels on a planar surface, as the cost of additional actuators andaccompanying controller and maintenance complexity may be avoided ormitigated. In addition, an x-y motion system with two degrees of freedommay afford relatively high throughput compared to systems in which therobot holds the workpiece during the entire manufacturing process, asthe robotic system 154 may dynamically bypass temporarily congestedworkstations and accumulate inventory of work-in-process (e.g., liningup partially prepared beverages to the side of a congested workstation)to keep bottleneck workstations running closer to full capacity duringperiods with fluctuating demand. That said, embodiments are not limitedto systems that afford these advantages, which is not to suggest thatany other described feature is limiting.

Various types of actuators may be used. In some embodiments, theactuator is a linear motor. In some embodiments, the actuator is astepper motor. In some embodiments, the actuator is an induction motor.In some embodiments, the actuator is a pneumatic motor or hydraulicmotor. The motors may have motor driver circuits coupled to a power busof the system 150 and a control bus of the system 150. The control busmay be operative to convey commands, such as changes in target setpoints (e.g., in terms of location, velocity, or acceleration) from thecontroller to the motor drive circuits, which may selectively applypower from the power bus to the corresponding actuator to effectuate theoperations specified by the commands (e.g., applying a P, PI, or PIDfeedback control algorithm to the actuator to achieve the targetsetpoint). Or in some cases, control may be via point-to-pointcommunications, like in a hub-and-spoke topology, rather than on ashared bus. In some cases, control is implemented via supervisorycontrol and data acquisition (SCADA), Modbus, Controller Area Network(CAN bus), or various other process automation protocols.

Various types of drive mechanisms may also be used. In some embodiments,the rails 184 may be implemented as threaded shafts, and the gantry 182may couple to the threaded shafts with a threaded nut at each end of thegantry 182, e.g., as a linear screw drive. In some embodiments, thethreaded shafts are coupled with a belt, chain, or gearing that causesthe threaded shaft to have zero degrees of relative freedom ofrotational movement, such that when one shaft rotates, the other shaftrotates, thereby keeping the gantry 182 aligned. In some embodiments,the rails 184 and 186 include a rack, and the gantry 182 may include aset of pinions at either end of the gantry 182. In some embodiments, thepair of opinions may be similarly mechanically linked, such as with abelt, chain, or shaft, such that the pair of pinions rotate with zerodegrees of relative freedom, keeping the gantry 182 aligned orthogonalto the rails 184 and 186. In some embodiments, rails 184 and 186 may beimplemented as chains or belts to which the gantry 182 is coupled, suchthat rotation of the chains or belts about pulleys or gears at eitherend causes the gantry 182 to translate.

Actuators may be disposed in various frames of reference. In someembodiments, a first motor or other actuator is static with respect to aworking environment of the robot, such as the kiosk described above or abuilding in which the system is disposed, and the first motor causes thegantry 182 to translate along the rails 184 and 186. Or in someembodiments, this first actuator is coupled to the gantry 182 and moveswith the gantry as it translates, for instance, in a rack and piniondrive. In some embodiments, a second motor or other actuator is coupledto the gantry 182 and moves with the gantry 182, the second motorcausing movement of a carrier 188 along a length of the gantry 182. Orin some embodiments, the second motor is mounted to the carrier 188. Thesame types of motors or other actuators and drive mechanisms asdescribed above may be used to move the carrier 188 along the length ofthe gantry 182.

In some embodiments, the robotic system 154 comprises a plurality ofautonomous mobile robots 300 capable of moving in various directions,e.g., with concurrent movements in overlapping (e.g., coterminous)working areas. FIG. 4 shows a front elevation view of representation ofan autonomous mobile robot 300. In some embodiments, an autonomousmobile robot comprises omnidirectional wheels 702 driven by on-boardelectric motors. The wheels and the electric motors may be installed ina circular-shaped main body (e.g., a chassis) 701. In some embodiments,each of the wheels are powered via respective on-board motors or otheractuators. Motors extending from each of the wheels may be locatedinternal to the main body. In some embodiments, the motors are actuatedby power supply situated in the chassis, e.g., a battery that is chargedby driving the robot 300 to where it can make electrical contact with acharging station. Or in some cases, power is conveyed through a wiredconnection, via sliding resilient electrical contact biased againstconductive plates above and below the robot (each plate having adifferent electrical charge), or via inductively conveyed power fromcoils in the robot and adjacent the robot. In some embodiments, thepower supply can be batteries, re-chargeable batteries, solar cells,etc.

In some embodiments, an open-top vessel may be placed on an autonomousmobile robot to be moved across workstations. In some embodiments, theautonomous mobile robot may be placed below the barrier and isconfigured to actuate an open-top vessel via an end-effector with aprimary and secondary members. Or in some embodiments, the autonomousmobile robot operates above the barrier. For example, a plurality ofsuch robots may navigate through a shared work area by routing pathsbetween various workstations, in some cases, coordinating in routeselection to avoid collisions during concurrent movements.

In some embodiments, the three wheels are each of similar size and type,and the three wheels may be configured to make continual contact withsurfaces that are curved and uneven. In some embodiments, the wheelshave a primary wheel 401 driven by a corresponding actuator of the robot300 and a plurality of secondary wheels 402 that are rotationallysymmetrically arrayed around the perimeter of the primary wheel. In somecases, each axle has an inner wheel 403 and an outer wheel 404. In someembodiments, the motors are oriented perpendicular to the wheeldirection of travel. In some cases, the secondary wheels 402 are notindependently actuated and may be free to spin of their own accordrelative to the primary wheel 401. In some cases, the wheels are Mecanumwheels or omni-wheels. In some embodiments, the robot 300 may be made torotate about a vertical axis or translate along two orthogonal axes byapplying corresponding patterns of actuation to the respective wheels(e.g., with three degrees of freedom of movement in a planet, likefront/back, side-to-side, and rotation about a vertical axis). In someembodiments, the autonomous mobile robot has three omnidirectionalwheels forming an equilateral triangle configuration with an angle 60°between each wheel. In some embodiments, the autonomous mobile machinehas three or more wheels that are not omnidirectional.

In some embodiments, the autonomous mobile robot 300 may furthercomprise a localization system. The localization system may comprise avariety of position sensors. In addition, the autonomous mobile machineis provided with a control system in charge of the planning and movementbased on the instructions received from the system controller 152 andthe data received from the localization system. The ultrasonic sensorsoriented facing outward in the plane of movement provide feedback forthe control system to avoid obstacles. Visual odometry or othertechniques like those described above may be used to determine locationand orientation of the robot 300. The autonomous mobile robot 300 may bedesigned to move a variety of open-top vessels. In some embodiments,movements may be computed to conform to wave-cancelling motion profiles.

In some embodiments, a plurality of autonomous mobile robots may bedisposed in a shared working environment of a system 150, like below andadjacent barrier 166 in kiosk 160. The autonomous mobile robots may bearranged in cells, wherein several machines each perform the sameprocess. For example, several robots 300 may be configured to move avessel through all the preparation processing, from receiving the vesselfrom a cup dispenser to leaving the cup at a delivery gate. Alternately,several robots 300 may be utilized on an assembly line, wherein eachmachine performs unique steps of a production sequence. For example, onemachine may be in charge of moving the vessels from a cup dispenser to abrewing station. In some embodiments, a plurality of autonomous mobilerobots may be assigned by the system controller 152 to be in charge ofcups and vessels provided by customers. Such autonomous mobile robotsmay be equipped with respective sets of end effectors that can grip avariety of different type of vessels, like those described in relationto the gantry system. In some embodiments, the mobile robot 300 includesa top-mounted end-effector mount 192 like those described below. Or insome cases, the robot 300 operates above the barrier 166.

FIG. 5A is a perspective view of an example end-effector mount 192 thatmay be placed on the carrier 188 or on the chassis of an autonomousmobile machine 300 to move along the x and y axes, in accordance to someof the embodiments of the present techniques. The end-effector mount 192may be configured to couple to a set of end-effectors that receive anopen-top vessel 202 and hold the vessel while the open-top vessel isbeing moved by forces applied by the carrier 188 or an autonomous mobilemachine 300. In some embodiments, the end-effector mount 192 includes anactuator, like the examples above, operative to adjust positions of aset of three couplings thereon consistent with the approaches below.

As shown in FIG. 5B, in some embodiment, the end-effector mount 192 isconfigured to rotate about a center axis through shaft 194. The shaft194 may be rotated by electric motor 205 (or another actuator) attachedon the carrier 188. In some embodiments, the center axis 194 isoperative to translate up and down along the center axis, which may be az-axis that is orthogonal to the illustrated x and y axes. Arrows show apossible direction of movement. In some embodiments, a similarend-effector mount 192 is coupled to one of the above autonomous mobilerobots. In some embodiments, the actuator 192 has two or fewer degreesof freedom, e.g., rotation from shaft 194 about an axis of rotation andmovement of couplings 196 relative to one another, for instance radiallyoutward from the axis of rotation corresponding to shaft 194. In someembodiments, the end-effector mount 192 has one and only one degree offreedom and is configured to selectively engage and disengage, viamagnetically coupled end effectors like those described below, with twodifferent workpieces concurrently, e.g., starting to move a first cup,then starting to move a second cup while moving the first cup, thenceasing to move one or the other while continuing to move at least one.

In some embodiments, a plurality of end-effector couplings (e.g.members) 196 are placed on surface of the end-effector mount 192 toguide movement of magnetically coupled end effectors contacting a vessel(not shown, but above barrier 166 placed above couplings 196). In someembodiments, the couplings have a frusto-conical or right-circularcylindrical shape. In some embodiments, three couplings are positionedin an equilateral triangle configuration or other rotationally symmetricconfiguration. In some embodiments, the couplings 196 each include amagnet with a pole oriented upward, along the z-axis to form a magneticcoupling with an end effector having a complementary magnet orientationon another side of a barrier, like barrier 166 described above. In someembodiments, three end-effectors 196, forming an equilateral triangle,are configured to be engaged with different size of vessels.

FIG. 6 shows three couplings 196 configured to move end-effectorsradially inward and outward, keeping an equilateral triangle formation,to receive and manipulate vessels with different diameters. Radialmovement of end-effectors may grip and hold a vessel, or otherembodiments may push vessels without gripping vessels. Radiallyadjustable end-effectors may be mechanically lined to an actuator and adrive, like a screw drive operative to move the end-effectors outward,or a spiral slot in a plate rotated by shaft 194 and in which pins slidewhile also sliding in slots extending radially outward in a top plate. Agear reducer may be used to convert the higher speed rotation of theshaft of a motor to the slower but more powerful rotation.

In some embodiments, the working volume of the robot (i.e., the volumereachable by its end effectors) may be a generally rectangular prism.The working volume may be characterized as a working area in virtue ofthe height being generally uniform, constant, and relatively smallcompared to other dimensions, in some embodiments. In some embodiments,the working area is larger than 100 square centimeters, for instancelarger than 5 cm by 10 cm, larger than 20 cm by 60 cm, and in somecases, larger than 50 cm by 80 cm. In some cases, the working area isprovided with a relatively small volume of space reserved for movementof the robot under the barrier. For instance, a depth of less than 1 cm(e.g., in the case of the array of electromagnets described below), lessthan 5 cm, less than 10 cm, less than 20 cm, or less than 50 cm may bereserved below the barrier for movement of the carrier and gantry orother end-effector couplings and supporting robotic assemblies. In someembodiments, the ratio of working area to volume reserved for actuationof the end effectors, e.g., by of the robot, may be less than 1 cubic cmper square cm of working area, less than 5 cubic cm per square cm ofworking area, less than 10 cubic cm per square cm of working area, lessthan 20 cubic cm per square cm of working area, or less than 50 cubic cmper square cm of working area.

Some embodiments mitigate additional automation-related challenges. Insome existing robots, robot actuators shed particles, like grease andworn machine parts, and it is desirable shield open-top vessels fromthese particles.

FIG. 7A is a cross-section elevation view of an end effector (i.e., thecomponent that makes contact with the workpiece to move the workpiece)and end effector coupling of a robot in accordance with some embodimentsof the present application. A barrier 204 may separate the coupling 198from the open-top vessel 202.

In some embodiments, the barrier 204 is a thin, rigid, non-ferrous,non-magnetic surface such as glass, wood, or plastic. In someembodiments, the end-effectors may comprise a primary member 198,positioned on the bottom side of the barrier 204, and the end effectorcoupling may comprise secondary members 201, positioned on the top sideof the barrier 204.

In some embodiments, a secondary member 201 may be placed inside theopen-top vessel or physically attached to it (e.g., with an adhesive).In some embodiments, an open-top vessel, or a portion of it, may have amagnetically responsive material, and the open-top vessel itself may beemployed as the secondary member 201. In some embodiments, the open-topvessel is the secondary member. For example, some embodiments may havecups or bows with a ferrous metal base or with magnets coupled to theirbase. Or some embodiments may have cups or bowls that are made of aferrous metal. In some cases, the cups or bowls are re-usable.

For instance, in some embodiments, users may provide a deposit to bereturned upon return of such a workpiece. Or in some cases, a user maybe charged upon determining that the workpiece has not been returned tothe kiosk in a threshold duration of time, like after two hours or aday. In some embodiments, the kiosk further includes a robotic dishwasher operative to receive returned cups or bowls, wash and sterilizethem, and then return them to an inventory of a cup or bowl dispenserworkstation. In some embodiments, cups or bowls may have an optical codethereon (like a QR code or bar code sticker or engraving) or a radiofrequency identifier chip (like an NFC chip), such as a passive RFIDchip, and a reader on the robot may read the identifier beforedispensing the cup or bowl, associate the identifier with a user'sprofile, and effectuate deposits returns or follow-on charges with theappropriate user's account upon determining that the same identifier wasnot read or was read by another reader in a return station of the kiosk.

In some embodiments, the sheet is an air permeable barrier and a primarymember is coupled to a secondary member via a suction force (e.g.,through airflow drawn by the primary member). The suction force may beinduced by a vacuum pump in fluid communication with couplings 198.

FIG. 7B is an elevation cross-section view of an end-effector mount 192coupled to a set of end effectors carrying a vessel, and FIG. 8 is aperspective view of the end-effector mount 192. A barrier 204 mayseparate the illustrated robotic system 154 from the vessel 202. In someembodiments, the barrier 204 is a thin, rigid, non-ferrous, non-magneticsurface such as glass, wood, or plastic. In some embodiments, thebarrier 204 is a transparent material (e.g., permitting more than 20% oflight to pass). In some embodiments, the barrier 204 is an opaquematerial.

In some embodiments, the robot comprises of a plurality ofcoupling/end-effector pairs having primary members 198, positioned onbottom side of the barrier 204, and secondary members 201, positioned onthe top side of the barrier 204, e.g., end effectors. In someembodiments, in each coupling on the end-effector mount 192, a housing200 surrounds the primary member 198. In some embodiments, anotherhousing 203 surrounds each secondary member 201. In some embodiments,the housing 203 contacts vessels. Each primary member 198 may bemagnetically coupled with a secondary member 201 positioned aligned onthe top of the primary member 198 above the barrier 204. The primarymember 198 and secondary member 201 each may have at least magnet,wherein the at least magnet of the primary member magnetically attractsat least magnet in the secondary member. In some embodiments, eachcoupling may include a pattern of magnets arranged, for instance, withalternating north and south poles oriented upward, and end effectors mayhave a complementary pattern, e.g., in embodiments in which a particularorientation of the end effector is selected by the magnetic coupling. Orin some cases, a single magnetic pole may be oriented upward, and theend effector may not have a rotational alignment specified by themagnetic coupling. In some embodiments, some or all of the magnets inthe secondary member or primary are, instead, a magnetically attractablematerial such as a magnetic metal.

In some embodiments, the magnets are permanent magnets, such as rareearth magnets. Rare earth magnets are strong, permanent magnets madefrom alloys of rare earth elements. Elements include neodymium ironboron (Neo) and samarium cobalt magnets. In some cases, the magnets areidentical, or in some cases the magnets vary size or variety. Magnets inthe primary and secondary members may be of opposing polarity such thatthey attract one another. In some embodiments, samarium cobalt SmCo isused to take advantage of its high resistance to demagnetization andcorrosion resistance. Rare earth magnets may be formed in a variety ofshapes and sizes that may be configured and adapted to a housing 200 and203. For example, these shapes may include discs, rods, cubes,plates/blocks, tubes, rings, horseshoes, spheres, dimpled rods, andcubes with holes. In some aspects, an array of rare earth magnets isused as a substitute for one larger magnet. In some embodiments, aferromagnetic material is disposed between the rare earth magnets toincrease the magnetic force exerted by the rare earth magnets. This mayallow for thinner or smaller rare earth magnets to be used withoutdiluting the magnetic force exerted. In some embodiments, the magneticcomponents (opposing polarity rare earth magnets) of the secondarymember may compare in size, location and strength to their matingmagnetic component in the primary member and will be of opposingpolarity to affect the magnetic attraction between the master andsecondary members. Some embodiments may include a magnetic lens toconcentrate magnetic flux.

A variety of types of magnetic couplings are contemplated. In someembodiments, the primary members have permanent magnets and thesecondary members have magnetically responsive, e.g., ferrous,materials. In some embodiments, the secondary members have permanentmagnets and the primary members have magnetically responsive materials.In some embodiments, the primary members have electromagnets and thesecondary members have permanent magnets. In some embodiments, thesecondary members have electromagnets and the primary members havepermanent magnets. In some embodiments, the primary members haveelectromagnets and the secondary members have magnetically responsivematerials. In some embodiments, the secondary members haveelectromagnets and the primary members have magnetically responsivematerials. In some embodiments, the members comprise an electromagnet,having an electronic actuator that delivers current to theelectromagnet. In some embodiments, the electromagnet can comprise ametal core, such as an iron alloy. A wire coil can be wrapped around themetal core and a current from a power source can be directed to the wirecoil. The power source may be any type, such as a battery source or apower source contained in the automated beverage preparation system 150.

In some scenarios, the secondary member may become uncoupled from theprimary member, e.g., if the primary member is accelerated aggressively,if a vessel has a large amount of inertia, or if friction increases onthe top of the barrier due to a spilled, sticky material. Once themagnetic couple between the master and secondary members is lost, theloss may be detected, and retrieval and repositioning of the secondarymember may be performed. In some embodiments, the primary membercomprises a Hall-effect sensor operative to output a signal to thecontroller indicative of whether a magnet from the secondary member ispresent, indicating whether the primary member is coupled to thesecondary member. In some embodiments, a capacitive sensor on theprimary member my output a signal indicative of a change in capacitanceacross the barrier caused by loss of the secondary member. In someembodiments, a coil with a time-varying current in the primary membermay induce a time-varying current in a complementary coil in thesecondary member, and changes in inductance (e.g., as indicated by anatural frequency of the coil in the primary member) may signal a lossof the secondary member.

In response to detecting loss of the secondary member, embodiments mayrecover the secondary member with a variety of techniques, includingexecuting coverage path planning algorithms. In some cases, the primarymember may be driven in a rastering scan pattern across a working areaof the robot to re-capture the secondary member. In some cases, a camerawith a field of view of the working area above the barrier may beaccessed, and computer-vision object detection and localization routinesmay be used to detect a location of the lost secondary member based onimages of the working area from the camera. End effectors may have adistinct color relative to other portions of the interior or the systemto facilitate detection. The computer vision algorithm may indicate alocation in the working area of the lost secondary member, andembodiments may drive the primary member to that location to recapturethe end effector.

In some embodiments, the robot is operative to self-right a lostsecondary member that is positioned on its side. For instance, anintensity and polarity of magnetic flux from the primary member maycause a secondary member on its side to jump to the proper orientationwhen proximate the primary member. Or in some cases, the secondary maymember may include an array of magnets around its top side with amatching polarity to the top of the primary member, to create arepulsive force that pushes the top of the secondary member upward whilepulling the bottom of the secondary member downward to rotate thesecondary member back into the upright position. In some embodiments,the system comprises a spare set of end effectors that may be pulledfrom when one is lost, e.g., by driving the primary member to adesignated location in the working area. In some cases, different endeffectors with different shapes may be held in reserve and swapped outto perform different tasks, e.g., a squeegee end effector may be swappedout with those shown to clean a surface of the barrier 166 in responseto detecting a spill, for instance, by pushing spilled liquid orcleaning solution toward a drain (which could be a hole, break,cut-away, or actuated opening in barrier 166). Some embodimentsintegrate a drain or other openings to allow dispensed liquid to passthru the barrier 166, for example, some embodiments dispense liquidsfrom faucets directly over the barrier 166 into a break or actuated holeopening in the surface. Some embodiments include a workstation todispense a cleaning fluid onto the barrier 166 before it is applied by asqueegee end effector executing a coverage path routine.

In some embodiments, the magnets are polarized in a directionperpendicular to the plane of the barrier. The magnets of the master andthe secondary members are also arranged so that in operating positionthe pole faces on the primary member are aligned with pole faces ofunlike polarity on the secondary member. The first set of forces mayoperate perpendicular to the plane of the barrier and aligned with thatplane's normal vector, and these forces may urge the respective primaryand secondary members toward each other and against the barriersurfaces. Further, when the primary and secondary members aremis-aligned vertically, e.g., immediately upon acceleration of one, theother may experience a shear force, as the magnets attempt to regainalignment, and this shear force may cause the secondary member to followthe primary member across the barrier as the primary member translateshorizontally. The second set of forces operates parallel to the plane ofthe barrier, and these forces are the forces which act upon thesecondary member to cause it to track the primary member as the latteris moved below the surface of the barrier. In some embodiments, themagnetic elements in each of the units are disposed so that transversedisplacement of the primary member in any direction relative to thesecondary member tends to align a pole on the primary member with a poleof opposing polarity of the secondary member.

The illustrated end effectors have a generally frusto-conical shape withbearing and magnets adjacent a bottom face. In some embodiments, endeffectors may have other shapes. In some embodiments, the end effectorsare spheres of magnetic material (e.g., between 0.5 cm and 2 cm indiameter) configured to roll on the surface. In some embodiments, theend effectors comprise a sphere of magnetic material (or a permanentmagnet) inside a shell of plastic, and the magnetic material may remainin a static orientation while the shell rotates around the interior asthe end effector translates. In some embodiments, the end effectors havean arch-shape (when viewed from above), and an inner diameter of thearch may be complementary to an outer diameter of a beverage, bowl, orother work piece. In some cases, distal ends of the arcs may haverespective magnets to impede free rotation, and in some embodiments, onework-piece per end effector may be concurrently transported, e.g., in aset of three arch-shaped end effectors.

In some cases, various techniques may be applied to reduce static ordynamic friction between the end-effectors and couplings (e.g. primarymembers or secondary members) and the vessels with the surface of thebarrier. Examples include circulating air through the surface of thebarrier over which vessels slide through an array of holes, like in anair hockey table, or circulating air through the end effectors orcouplings, like as is done in a hovercraft. Other examples includevibrating the barrier, the couplings, or the end effectors, e.g., with apiezoelectric actuator, a voice coil, or with an eccentric mass attachedto a motor. Some embodiments may include ball bearings that contact thesurface over which the vessel slides or on the bottom of the vessel or acarrier of the vessel. In some embodiments, a plurality of bearings(e.g. ball bearings or cylinder bearings) may be placed on the surfaceof end-effectors or couplings (e.g. primary members or secondarymembers) adjacent the barrier to ease the movement of the end-effectorson the surface of the barrier. In some embodiments, the diameter ofbearings may be less than 20% of the diameter of the end-effectors. Insome embodiments, the diameter of bearings may be less than 10% of thediameter of the end-effectors. In some embodiments, the diameter ofbearings may be less than 5% of the diameter of the end-effectors. Insome embodiments, the barrier has a smooth surface with minimal adhesionthat facilitates movement of end-effectors and the vessels on itssurface.

Some embodiments slide open-top liquid vessels over a planar surfacewith permanent magnets, temporary magnets, electromagnets or acombination thereof. In some cases, the attractive force of anelectromagnet is adjusted over time responsive to a shear load appliedto the end effectors, e.g., a larger current may be driven through anelectromagnet responsive to determining that a vessel is full or isundergoing an acceleration above a threshold.

In some embodiments, as shown in FIG. 8B, the end-effector mount 192comprises electromagnets 193 arranged in spatial arrays 195, each being120 degrees apart in a radially symmetric arrangement. In some cases,different electromagnets 193 in the array are selectively activated insequence to move an end effector. For instance, each electromagnet 193from the inner radius to the outer radius may be actuated sequentiallyto pull an end effector with a magnet or magnetically responsivematerial radially outward, and the operations may be reversed to move itradially inward. In some cases, the end effectors have permanent magnetsand the direction of current flow of the illustrated electromagnets 193is selected to both push and pull the permanent magnet, e.g., anelectromagnet forward in a direction of travel may have a direction ofcurrent flow that pulls the end effector toward it, while one behind theend effector in the direction of travel may have an opposite directionof current flow to push the end effector via its permanent magnet.

Arrays of electromagnets may be applied even more expansively in someembodiments. In some cases, a grid (e.g., hexagonal or rectangular) ofelectromagnets may be arranged on the end-effector coupling to move endeffectors to arbitrary positions thereon, provided that fields ofadjacent end effectors do not interfere with one another. In anotherexample, such a grid may be applied over an entire working area of thebarrier 166 to move end effectors thereon, without the underlying gantrysystem discussed above, which is not to suggest that any other featuremay not be omitted in some embodiments. In some embodiments, rows andcolumns of linear motors (e.g., synchronous, induction, or homopolarlinear motors) may form a grid under the barrier and drive a permanentmagnet of an end effector above the barrier 166.

Some embodiments slide open-top liquid vessels over a planar surfacewith actuators below the planar surface coupled with magnets over theplanar surface, surrounding the vessels. Thickness of the planar surfaceis configured to be thin enough to allow sliding the magnets over thesurface by moving the magnets below the surface.

In some embodiments, a single end effector is used. In some cases, acoaster-shaped end effector holds beverages and is magnetically coupledto the end-effector mount 192. In some cases, the single end effector isselectively engaged and disengaged by retracting the primary member awayfrom the barrier, moving them downward in the z-direction, or bychanging (e.g., stopping) current flow in an electromagnet in theprimary member. In some cases, different sets of end effectors mayaccompany vessels through an assembly process, and the end-effectormount 192 may selectively engage and disengage different end effectorsat different times.

As noted above, many belt conveyers are inefficient because vessels movelinearly, and in synch, between work stations, and the preparationprocess is limited by the slowest step (which is not to suggest thatsuch approaches are disclaimed in all embodiments). In some embodiments,the system 150 may expedite product preparation by handling multiplevessels concurrently, in some cases, asynchronously. For examples, whileone vessel is placed under an addition unit (or other workstationconfigured to dispense an alimentary product) to be filled, anothervessel may be moved concurrently to another addition unit or a finalproduct drop off location.

In some embodiments, an x-y motion system 180 (or other two-or-moredegree of freedom robot) may maneuver a plurality of open-top vessel ona planar surface to various workstations. FIGS. 9A-F illustrate anexample of how an x-y motion system 180 may be actuated to engage, move,and release, multiple vessels on the top of a planar surface (notshown). In FIG. 9A, vessel A may be engaged with the carrier via amagnetic coupling, like those described above, and moved in thedirection of the arrow along the carrier 188. In FIG. 9A, vessel B maybe disengaged from the carrier and sit at another location on top of theplanar surface.

As shown in FIG. 9B, the primary member 198 may be lowered from thebottom of the planar surface by the center axis 194. As the primarymember is moved away, the magnetic bond between the primary member andsecondary member may be disengaged with the primary member and thecarrier.

As shown in FIG. 9C, the disengaged carrier may be moved into positiondirectly under vessel B. Vessel B may be already loaded on anothersecondary member 201. In FIG. 9D, the carrier is aligned directly belowvessel B and the primary member is lifted by the center axis and as itapproaches the planar surface, it starts to be engaged with thesecondary member of vessel B.

As shown in FIG. 9E, the carrier may be actuated by the motion systemalong the direction of arrow, and vessel B may be also moved with thecarrier, in the direction of the arrow. As shown in FIG. 9F, vessel Bmay be engaged with the carrier and can be moved with the motion system,while vessel A is disengaged from the carrier and sits at anotherlocation on top of the planar surface.

In some embodiments, a plurality of vessel, such as vessels in FIGS.9A-F, can be moved with an autonomous mobile machine instead of an x-ymotion system.

In some embodiments, workpieces may be transported asynchronously alonga single axis. For instance, a set of vessels may be moved along alinear sequence of workstations, with different vessels being moved atdifferent times. Or in some embodiments, workpieces may be transportedasynchronously along a two or more axes, e.g., two and only two axes,like in a horizontal plane. Such movements may facilitate operations inwhich the order in which ingredients are added to a vessel is variedbased on predicted usage of various workstations. Various schedulingalgorithms may be applied, taking into account which recipes areselected by users in a queue, how long various workstations take tocomplete their tasks, and queues for those workstations and the movementsystem. Examples include first in, first out; priority scheduling;shortest job first; first priority pre-emptive scheduling, round-robinschedule, multilevel queue scheduling, and work-conserving scheduling.

A workpiece is said to be among “work-in progress” (WIP) if thatworkpiece, e.g., an open top vessel, has started undergoing an assemblyprocess. A unit of WIP may co-exist with other units of WIP concurrentlywithin the illustrated systems. In some cases, the sequence with whichsteps of a recipe to complete WIP are applied may be dynamicallyre-sequenced responsive to the scheduling algorithms above and newlyarriving WIP. In some embodiments, a given workstation may be operativeto selectively provide different outputs, e.g., coffee, hot water, ordairy, and in some cases, multiple workstations may have the samecapabilities.

In some cases, two workpieces may be moved concurrently by theillustrated robots. For instance, in a set of three end effectors, aleft-outer and middle end effector may push one vessel, and the middleand a right-outer end effector may push another across theabove-described barrier 166 at the same time (e.g., where the spacingbetween adjacent end effectors is less than a diameter of a bottom of acup). In some cases, the right-outer end effector may rotate backward(relative to the direction of travel) to disengage from a vessel to theright while continuing to be engaged with a vessel to the left in thepreceding arrangement, or vice versa. Thus, in some cases, with asingle-degree of freedom mapped to the end effectors, two workpieces maybe concurrently moved, while being engaged and disengaged at differentlocations in the working area. In some cases, a force may be applied toa vessel by end effectors in only one net direction, while acounteracting force may be applied by friction from the vessel slidingagainst the barrier, and the latter may be used to stop the vessel frommoving after the former pushes the vessel along a path. In some cases, amore aggressive deceleration profile may be selected when a third endeffector is used to help stop the vessel than when friction is used tostop the vessel.

In some cases, two workpieces may be moved concurrently (e.g.,simultaneously) in movement by which one workpiece at a workstation isswapped with another (as described in additional detail below withreference to FIGS. 13C-E). For instance, in a set of threeend-effectors, a forward end effector may be disposed adjacent (e.g., incontact with) a far-side of a vessel at a workstation, and a middle endeffector may be disposed adjacent a near-side of the vessel at theworkstation, with the vessel being generally to the right of the forwardand middle end effectors. At the same time, another vessel waiting forthe workstation may be disposed adjacent the middle and a rear endeffector, generally to the left of the rear and middle end effectors. Insome embodiments, the two vessels may be swapped by rotating the set ofthree end effectors about an axis through the middle end effector, e.g.,clockwise 180 degrees. Or the left/right positions and direction ofrotation may be reversed. In some cases, after completing this swappingmovement, a now forward end effector may rotate backward, about themiddle end effector, to form an equilateral triangle with the other twoend effectors around the vessel withdrawn from the workstation, before(or while) the withdrawn vessel is moved to another workstation.

Some embodiments use a system of three-paired primary members 198 totransmit movement from a carrier 188, across a thin, planar surface,into a system of three secondary members 201 (e.g., end effectors). Insome embodiments, this configuration allows vessels to be grabbed andreleased, as well as swapped with other vessels. This configuration alsoallows multiple vessels to be placed directly on to the planar surfacewithout the use of transportation platforms.

The number of, pattern, and placement of secondary members may varydepending on design and task of a x-y motion system. When configuredwith one or two engaged secondary members, the actuated assembly is ableto push and direct vessels across the planar surface. When configuredwith three or more engaged secondary members, a x-y motion system isable to grab, rotate and release a plurality of vessels as well.

FIG. 10 is an elevation cross-section view and FIG. 11 is a perspectivecross-section view of a system of three-secondary member 201 paired withprimary members 198. A barrier 204 may separate the three-secondarymember 201 paired with primary members 198. In some embodiments, thebarrier 204 is a thin, rigid, non-ferrous, non-magnetic surface such asglass, wood, or plastic.

In some embodiments, a system of three-paired primary members 198,positioned on bottom side of the barrier 204, are arranged with a middleprimary member on the center axis 194 and two primary members attachedto the center axis through shaft 194 with a respective rotation arm 250.In some embodiments, a rotation arm 250 can rotate around the centeraxis through shaft 194, e.g., with a range of motion of 360 degrees. Insome other embodiments, a rotation arm 250 can rotate around the centeraxis through shaft with a smaller range of motion, like less than orequal to 180 degrees. Each three of the primary members can be engagedto a secondary member 201, positioned on the top side of the barrier204. In some embodiments, a housing 200 is configured surrounding theprimary member 198 and a housing 203 is configured surrounding thesecondary member 201. The primary member 198 and secondary member 201each may have at least one permanent magnet, and the at least onepermanent magnet of the primary member may magnetically attract at leastone mating permanent magnet in the corresponding secondary member.

Thus, in the illustrated example, the two, outer primary/secondarymember pairs are coupled to the middle primary/secondary member pair viadifferent respective arms. In some cases, the arms are coupled to, anddriven by, different respective actuators, such that they three pairscollectively have two degrees of freedom. Or in some cases, the two armsmay be coupled by a planetary gear that rotates about a first axisnormal to a second axis extending through the middle primary/secondarymember pair, e.g., also orbiting the second axis, in some cases, meshingwith opposing face gears on opposing faces of the two arms. Thus,rotation of one arm about the second axis may cause an identical,opposing rotation of the second arm, and the two arms may both be drivenby a single actuator with a single degree of freedom. Or in some cases,one of the arms may be fixes to the shaft along the second axis, e.g.,rotating with the shaft, while the other arm may have an independentactuator that controls its rotation about the second axis.

FIG. 12 is a perspective view of the system of FIGS. 10 and 11 and showsthe components that are positioned underneath the barrier. In additionto the carrier being able to move in the x and y directions, two of theprimary members may be able to be independently actuated rotationalaround the center axis via rotation arms 250. Or in some cases, the armsmay be mechanically coupled and may rotate in opposing directions byequal amounts.

In some embodiments, a plurality of arms may be placed on the centralaxis. In some embodiments, the length of each of the plurality of thearms may be different from each other. In some embodiments, the lengthof each of the plurality of the arms may be equal. In some embodiments,the arms can move inward and outward radially from the center axis toadjust the distance between the secondary members in order to manipulateand maneuver different size of vessels. In some embodiments, additionalarms with additional pairs of primary and secondary members may extendfrom each of the illustrated arms, and those additional arms may haveadditional degrees of freedom drive by additional actuators, e.g., toform a chain of end effectors.

In some embodiments, an x-y motion system 180 can be employed tomaneuver a plurality of open-top vessel on a planar surface acrossworkstations. FIGS. 13A-G illustrate an example of how an x-y motionsystem 180, with a system of three-paired primary members 198, may beactuated to engage, move, and release multiple vessels (in this example2 vessels) on the top of a planar surface of a barrier (not shown).

As shown in FIG. 13A, vessel A, surrounded and being moved by threesecondary members, each engaged with one of the primary members of asystem of three-paired primary members 198, is moved towards vessel Busing a x-y motion system. As shown in FIG. 13B, vessel A, surroundedand moved by three secondary members, stops next to vessel B. As shownin FIG. 13C, one of the rotational primary members, and consequently thepaired secondary member, is rotated counterclockwise about the centeraxis, releasing vessel A and engaging with vessel B. As shown in FIG.13D, both of the rotational primary members are rotatedcounterclockwise, pushing both vessel A and vessel B in acounterclockwise motion about the center axis. It should be noted, inthis configuration, the distance between each of the secondary memberspaired with the rotational primary members may be less than the diameterof the vessels. In some embodiments, the distance between each of thesecondary members paired with the rotational primary members is lessthan 90%, 70%, or 60% of the diameter of the bottom of the vessels.

As shown in FIG. 13E, both of the rotational primary members maycontinue to rotate counterclockwise, pushing both vessel A and vessel Bin a counterclockwise motion about the center axis to the point wherepositions of vessel A and vessel B have been swapped from where theywere in positioned in FIG. 13C. In this move, each of the rotationalprimary members has rotated 180 degrees around the center axis. As shownin FIG. 13F, one of the rotational primary members rotates clockwiseabout the center axis, disengaging from vessel A and engaging withvessel B. As shown in FIG. 13G, vessel B, surrounded and is actuated bythe secondary members, is moved away from vessel A via the x-y motionsystem.

In some embodiments, an x-y motion system 180, with radially-adjustableend-effectors, can be employed to maneuver a plurality of open-topvessel, with different sizes, on a planar surface across workstations.FIGS. 14A-H illustrate an example of how an x-y motion system 180, withradially-adjustable end-effectors, may be actuated to engage, move, andrelease multiple vessels (in this example 2 vessels) with differentsizes on the top of a planar surface of a barrier (not shown).

As shown in FIG. 14A, vessel B is on top of the planar surface,surrounded by three secondary members. Vessel A is placed without anysecondary members nearby, also on top of the planar surface. A carrierof an x-y motion system with three radially-adjustable primary members,engaged with three secondary members, is actuated and moves towardsvessel A. As shown in FIG. 14B, the carrier moves to a position nearlyunderneath vessel A. Note that the three primary members are in aradially extended position. This allows vessel A to pass between thethree engaged secondary members. As shown in FIG. 14C, the three primarymembers are then moved radially inward, allowing the engaged secondarymembers to come in contact with vessel A. In some embodiments, vessel Aand vessel B may have the same diameter. In some embodiments, vessel Aand vessel B may have different diameters.

As shown in FIG. 14D, the carrier may be actuated in the direction ofthe arrow and the engaged secondary members direct vessel A across theplanar surface with the carrier. As shown in FIG. 14E, the carrier stopsand the primary members are moved downward via the center axis. Thisdisengages the primary members from the secondary members. The secondarymembers surrounding vessel A are left in place above the planar surface.As shown in FIG. 14F, the disengaged carrier is actuated and movestowards vessel B. As shown in FIG. 14G, the disengaged carrier stopsdirectly below vessel B. The primary members are moved upward towardsthe bottom of the planar surface via the center axis and engages withthe secondary members that are surrounding vessel B. It should be notedthat the primary members can be moved radially to be exactly below thesecondary members surrounding vessel B. As shown in FIG. 14H, thecarrier is engaged directly below vessel B and as the carrier isactuated in the direction of the arrow, vessel B is pushed across theplanar surface in the same direction.

Some embodiments keep the magnets adjacent the barrier 166 (e.g., withinless than 5, 3, 2, 1, or 0.5 millimeters) while accommodating deviationsin planarity and uniform thickness of the barrier. If such deviationsare large enough to cause misalignment, the components underneath theplanar surface may either collide with the planar surface, or a gap mayform between the primary members and the secondary members. If this gapbecomes too large, the force between the primary members and thesecondary members will be too weak to move the vessel around the planarsurface (which is not to suggest that the following techniques or anyother feature is required in all embodiments).

As shown in FIG. 15 , in some embodiments, a core-shell housing isconfigured to hold the primary members. The core 254 of the core-shellhousing may have a spherical surface that is able to rotate freely(similar to a ball joint) inside of the shell 256 of the housing (e.g.,within some threshold range of motion, like more than 5 degrees aboutany axis through a horizontal plane). A gap 252 may be provided betweenthe core and the shell. In some embodiments, the gap 252 may permit thecore to translate up or down. In some embodiments, the gap between theshell and the core may be lubricated to facilitate rotation of the coreinside the shell.

In FIG. 16 , a cross-section elevation view of the core-shell housing isillustrated. A planar surface (e.g., the barrier 166) and the rotationarms may not be parallel in some regions of a working area, forinstance, due to a misalignment or tolerance issues between the planarsurface and the carrier. On the left-hand side, the secondary memberattracts the primary member and the core is pulled upwards in the shellstructure. On the right-hand side, the core is able to move downwardinside of the shell. In both cases, a connection is maintained betweenthe primary member and the secondary member. In some cases, the coreshell may resiliently flex to allow vertical translation of the core.This may allow the carrier movement to be translated up through theshell into the core, and across the planar surface to the secondarymembers. The rotation arms may not need to deflect in order to keep bothof the primary members in contact with both of the secondary members. Insome embodiments, the gap between the core and the shell can be adjustedto enable actuation of the secondary members across non-flat surfaces.

FIGS. 17A-G illustrate an example of how an x-y motion system 180 maydeliver a vessel using a delivery ramp 258 with a one-piece end-effector260. A delivery ramp may be a wedge as shown in FIG. 17A. The vessel maysit on top of the end-effector 260 and may be moved towards a deliveryramp. The central axis may rotate in order to get the delivery ramp toline up with a cutout in the end-effector 260. As shown in FIG. 17B-C,as the vessel is moved towards the delivery ramp, the front edge of thedelivery ramp may slide through the opening in the end-effector 260,underneath where the vessel sits. The diagonal surface of the deliveryplatform ramp may make contact with the bottom edge of the vessel andmay apply an upward force that causes the vessel to translate upward asit translates horizontally along the ramp.

As shown in FIG. 17D, the back edge of the end-effector may continue topush vessel towards the delivery ramp. As this happens, the deliveryramp begins to lift the vessel off the end-effector. As shown in FIGS.17E-F, the back of the end-effector may push the vessel to its finaldelivery position on top of the delivery ramp. The delivery ramp surfacethat is used to lift the vessel upwards may be transitioned into a flat,static platform for the vessel. As shown in FIG. 17G, actuated by thex-y motion system, the now-empty end-effector may back away from thevessel and delivery ramp, free to transport other vessels. The originalvessel now sits on top of the delivery ramp, waiting for the next stepin the assembly, transport, or delivery process.

In some embodiments, the beverage preparation system 156 shown in FIG. 1may comprise a bin of coffee beans with a feeder that delivers beans toa grinder (e.g., a burr-mill grinder) before the ground beans aredelivered to a brewing chamber that mixes the beans with water atbetween 190- and 210-degrees Fahrenheit. The system 156 may comprisesteam boiler, brew boiler, dairy addition, mixer, sweetener dispenser,and other workstations. In some embodiments, a workstation may comprisea latte art printer, like those provided by Ripples Ltd. Liquid deliverworkstations may comprise a reservoir of the liquid, a depth sensoroperative to indicate how much liquid remains or whether less than athreshold amount remains, and a dispensing actuator, like astepper-motor driven peristaltic pump or other food-safe pump. Loose-drygoods dispensers may comprise a reservoir of the dry goods, a vibratoryactuator, and a set of bins feed by the reservoir that rotate todispense fixed amounts of the dry goods. In some cases, the reservoirsmay comprise volume sensors, like ultrasonic transducers that measure adistance to a top of the body of material in the reservoir, and thecontroller may automatically remove recipes from a menu of a userinterface in response to determining that the amount of materialremaining is insufficient to process the recipe. Some embodiments mayfurther send a message over a network to a remote server that dispatchesa technician to refile the reservoir, in some cases, as a preventativemeasure before the supply is exhausted, responsive to such a signal. Orsome embodiments may exercise feed-forward control, and cease presentingmenu options and request refills, when a specified count of incrementsof the material have been dispensed in recipes. Some embodiments mayincrement a counter each time a recipe is invoked to track how much ofeach ingredient has been used since a last refill, and the count may beresent upon a refill.

In some embodiments, the operations supports system 158 may comprise aplurality of dispensers, addition stations (e.g. syrup addition, sugaraddition, etc.), dropping stations (e.g. tea bag, straw, etc.), acleaning station, and a disposal station. The robotic system 154 mayhave access to (and reach) dispensing locations of all theseworkstations in the working area of the robot.

In some embodiments, the dispensers are configured to dispense cups andattach lids when instructed by the coffee preparation system controller152. In some embodiments, a cup is released from a cup dispenser basedon the instruction received from the coffee preparation systemcontroller 152 to be moved via the robotic system 154 across theworkstations. In some embodiments, a lid dispenser attaches a lid to acup after the preparation process is done and before the order isdelivered to a customer.

In some embodiments, the dispensers may be configured to dispense freshor frozen solids, semi-solids, liquids, powders, or ice cubes.Dispensers may include containers coupled to an appropriate aperture(e.g. nozzle, moveable door, etc.) and dispensation may be assisted bygravity, or actively assisted using a piston, scoop, spoon, airpressure, etc. in various embodiments.

In some embodiments, a cleaning station may comprise a cleaning puck.The cleaning puck can be deployed by the robotic system 154, asinstructed by the coffee preparation system controller 152, to clean anyspill or dirt over the entire workstations, e.g., in response todetecting a spill, periodically, or after a threshold number of drinksare assembled. In some embodiments, the cleaning puck is equipped withair stream and hot water spray that may be used during the cleaningoperation. In some embodiments, the cleaning puck is deployed when aspill occurs at any of the working stations. In some embodiments, thecleaning puck is deployed during the rest period of the automatedbeverage preparation system 150, e.g., in response to determining noorder is under preparation. In some embodiments, the cleaning station isequipped with hot (e.g. 170° F. to facilitate sterilization orsolubilization or carry-away of residue) or cold-water lines anddetergents, surfactants, etc. In some embodiments, the cleaning puck maycomprise a replaceable cleaning surface in contact with the top surfaceof the barrier. The cleaning surface may be tissues, woven or feltedfabrics, etc.

In some embodiments, the interior of the kiosk is sterilized with UVlight or a misting of a food-safe sterilizing agent. In someembodiments, the vessels moved by sterilized secondary members, e.g.,with no human interaction from outside. In some embodiments, aventilation system is configured to keep the humidity of the interior ofthe kiosk below a threshold (e.g. 2% saturation).

In some embodiments, the disposal station is configured to disposecomponents such as cups and lids that are no longer needed. The roboticsystem 154 may drop components that are no longer needed into thedisposal station based on the instruction received from the coffeepreparation system controller 152. In some embodiments, the disposalstation may include a hole, in which the cups are disposed, on thesurface of the barrier 204 and a can to collect the disposed cups. Insome embodiments, if an order is not picked up after completion of aproduct therein for more than a threshold amount of time, the order maybe dropped into the disposal station based on the instruction receivedfrom the coffee preparation system controller 152.

In some embodiments, the disposal station may include an elevatorcomprising a housing to purge a cup. In some embodiments, the cup ismoved to the elevator housing by the robotic system 154 and the cup islifted down by the elevator to be purged to a trash can. The elevatormay comprise of a motor, gear reducer, pinion, and a rack. A gearreducer may be used to convert the high-speed rotation of the shaft of amotor to the slower but more powerful rotation of the output of the gearreducers. The output shaft of each of the gear reducers (not shown) maybe connected to respective pinions. The pinions may engage racks, whichare mounted perpendicular to the surface of the barrier 204. In someembodiments, the elevator is configured to be placed below the surfaceof the barrier. When the elevator is instructed to purge a cup or bowl,by instruction of the system controller 152, the elevator rises, theroof of the housing lifts up a part of the barrier 204 and the floor ofthe housing reaches the same height as the rest of the barrier plane204. Then, the cup to be purged is placed on the floor of the elevatorby the actuators. (The roof and floor may have a thickness similar to orequal to that of the rest of the barrier.) Thereafter, the elevator maytranslate down, and the roof of the elevator may recover an aperturethrough the barrier. In some embodiments, the actuators may move acrossthe aperture (e.g., hole or channel) through the barrier 166 when theelevator is in its rest position below the surface of the barrier.

In some embodiments, the automated beverage preparation system 150further comprises an ordering interface terminal. In some embodiments,the ordering interface terminal is a touchscreen located on or inproximity to the system housing 160, in order to allow a user to input acoffee order or order for other alimentary products. In someembodiments, the ordering interface terminal is accessible on a usercomputing device, such as a tablet computer, smart phone, smart speakeror the like, for example, via a native application or web application ofthe automated beverage preparation system 150 (hereinafter referred toas a “device app”). In some embodiments, a user can choose the preferredlocation of the automated beverage preparation system 150 amongst thelist of locations near the user.

In some embodiments, the automated beverage preparation system 150further comprises a plurality of delivery gates or other stations 164where a user can pick up the order once it is ready. In someembodiments, the delivery gates 164 have an airlock with two doors, oneconnecting the gate to the inside of the kiosk, as an interior door, andone where the customer can pick up the order, as an exterior door. Insome embodiments, the interior and exterior doors are across from eachother and are not both open at the same time. In some embodiments, thecustomer never has access to the inside of the system housing 160. Forexample, in some embodiments, the first the interior door is opened andthe order is place inside the gate via the robotic system 154 and afterthe interior door is closed, the exterior door is opened so the customercan pick up the order.

Many batch-based liquid transportation systems are not capable ofdetecting the actual location of liquid-bearing vessels and this isbelieved to cause inefficiencies in various processes; for examples, anaddition unit might release the ingredients (or other components) on thefloor instead of a vessel because of delay in the transportation system.

Some embodiments may locate the position (and in some cases orientation)of each vessel having WIP by proximity sensors placed at variouslocations in a liquid-processing facility, e.g., at each addition unitor pick-up location to prevent any spill or collision between vessels.In some cases, the sensors are non-contact sensors. In some cases, thesensors are configured to sense proximity of liquids or containers,thereby offering relatively large tolerances on liquid placement. Insome cases, the proximity sensors might be inductive, capacitive,photoelectric, or ultrasonic sensors.

In various embodiments, sensors may be configured to monitor one or moreof temperature, heat content, moisture, weight, pressure, viscosity,particle size, particle uniformity, electrical properties (particularlyfor solutions, e.g. conductivity, capacitance, inductance, etc.),chemical properties (e.g. salinity, pH, etc.), resistance (e.g.,pressure resistance for a resistive feedback or input component),capacitance (e.g., for capacitance-based input components), light,sound, static and kinetic forces etc.

In some embodiments, a strain or pressure sensor may be placed on thesecondary members to measure friction forces, which may be used to inferwhat percentage of the open-top vessel is filled with the liquid. Insome embodiments, this information is sent to the controller to be usedfor calculating the speed and acceleration profile of the open-topvessel.

FIG. 18 is a flow chart that illustrates a workflow for placing an orderby the user, e.g., via a touchscreen on the kiosk or native app on theuser's mobile computing device. As shown, at block 220, the orderplacement process is initiated. At block 222, a user is asked whetherthe user want to login to the device app or continue as guest. At block224, the device app may ask whether the user has an account registeredwith the device app. If the user has an account, the user can start toselect a product at block 226. If the user does not have an account, atblock 228, the user may be asked to register with the device app via asocial networking account of the user, a phone number, email address,etc. In some embodiments, the user may be asked to enter a confirmationcode that is sent to the user. The validity of the confirmation codeentered by the user may be checked by the device app in order tocomplete the user registration process. In some embodiments, a historyof orders is available in the user account. Next, at block 226, the usermay be asked to select a menu item from a plurality of menu itemsorganized categorically.

In some embodiments, the menu is adjusted based on the history of ordersby the user after the user logs in and based on which ingredients are instock. Information about the user may be stored in a profile, e.g.custom recipes, order history, primary or secondary pickup locations,allergies, dietary restrictions, nutritional goals etc., which may beused in subsequent order processing or dynamic menu configuration. Forinstance, predictive algorithms may be used to offer food and beverageproducts that are consistent with a user's dietary restrictions andallergies, nutritional goals, similar to items ordered by the customerhistorically, etc. Similarly, in the event of a failure in preparationor equipment, lack of availability of a particular product oringredient, etc., a different (e.g. redundant) component of the systemmay be used, another portion of ingredients may be obtained, or a usermay be directed to a secondary pickup location to avoid serviceinterruption, in various approaches.

Some embodiments may be operative to receiving a voice instruction,e.g., via a microphone of the user's device to “order me a coffee fromTruebird™,” and some embodiments may convert the audio to text,determine that coffee is to be ordered, access a device geolocation toidentify a closest kiosk, access an user profile to identify a default(or most recent, or most frequent) menu selection corresponding tocoffee, send the order, and effectuate payment, automatically withoutsubsequent user intervention. In some cases, orders may be held inreserve in the workspace for a threshold duration of time, until theuser authenticates themselves at the kiosk, e.g., by entering an ordercode, or placing their mobile device near a near-field communicationinterface by which an identifier is exchanged, at which point, inresponse, the robot may deliver the drink held in inventory to thepickup station.

In some embodiments, the recipe publication may be restricted, e.g. suchthat customers may view the list of ingredients but not the relativeproportions or the preparation procedure, in order to provide a layer ofprotection for “secret” recipes which may be proprietary. In someembodiments, the list of ingredients may also be restricted, and in suchapproaches, a customer may “validate” a custom recipe against dietaryrestrictions, allergies, nutritional goals etc. based on a transparentcomparison between the ingredients included in the recipe andrestrictions/allergies/nutritional goals defined in the user's account.

In some embodiments, availability status for the said items may bedisplayed to the user in real time (e.g., computed at the time ofordering). In some embodiments, the earliest delivery time for the menuitems may be displayed to the user in real time (e.g., computed at thetime of ordering). In some embodiments, the device app may checkavailability of customized options for the preparation of the menu itemselected by the user. If the customized options are available, the useris prompted to select one of the customized options of his/her interestin order to customize the order being placed by the user. In someembodiments, the user may be presented with an earliest pickup time andadditional pickup time intervals suggested by the server, for aninstance, 5 to 15 minutes later after the earliest pickup time and thelike to be selected by the user.

In some embodiments, a customer may select a type of vessel to be used.In some embodiments, a customer can choose the type of vessel to bedisposable (e.g., paper, Styrofoam, or cardboard) or non-disposable(e.g., glass or plastic) cups, bowls, plates, cones, or the like. Insome embodiments, a customer can choose his/her own cup or vessel to beused for the order. In some embodiments, only a certain type and sizesof vessels may be accepted if a customer wants to use his/her own vesselto be used. For example, the customer is asked to enter the size ofhis/her vessel (e.g. 8, 16, or 24 oz). In some embodiments, the customeris asked to verify the type vessel is amongst acceptable vessel types tobe used. For example, a plastic cup with melting temperature of 80° C.is not suitable for some items such as an expresso coffee. In someembodiments, a delivery gate is assigned to a customer to put hisvessel. In some embodiments, an input gate is configured to be used forreceiving vessels from customers. In some embodiments, the customernever has access to the inside of the system housing 160. For example,in some embodiments, an input gate has at least two doors; the firstdoor, connecting the gate to the outside of the kiosk, is opened and thevessel is place inside the gate by the customer and after the first dooris closed, the second door, connecting the gate to the interior of thesystem housing 160 is opened for the robotic system to pick up thevessel. In some embodiments, an instruction is given to the customer tofollow before putting his/her vessel into the gate to make sure thevessel is in good condition for sample preparation to be performed bythe automated beverage preparation system 150. Examples of suchinstructions can be opening the lid of the vessel, appropriately placingthe vessel in the gate (e.g. in standing position), or making sure thevessel is empty.

As shown in FIG. 18 , at block 230, the user may be prompted by thedevice app to make payment corresponding to the order placed.Embodiments may support various types of payment methods, such as creditcard payment, debit card payment, internet banking, electronic wallet,PayPal, stored value cards, cryptocurrency, and the like. Someembodiments may administer a loyalty rewards program by which discountsor free items are provided in response to determining more than athreshold amount of use is documented in the user's profile. In oneexample, in order to add credit card payment information, the user mustenter a credit card number, credit card expiration date and a creditcard security code. After successful payment, at block 232, a uniqueorder identifier (order ID) in form may be assigned corresponding to theorder placed by the user. In some embodiments, the user can find theorder using this order ID at the pickup station. In some embodiments,the user may be asked to enter the order ID and then upon verificationof the order ID, the order may be given to the user. At block 234, theorder and the order details associated therewith are transferred to thesystem controller 152 for further processing of the order. At block 236,the order may be fulfilled and prepared by the automated beveragepreparation system 150. At block 238, once the order is ready, the item(e.g., menu item) may be delivered to the user at the delivery gates164. In some embodiments, the exterior door of the delivery gate 164 isopened after entering an access code sent to the user to verify theuser. In some embodiments, the order ID is displayed at the deliverygate 164 (e.g., in a gate-specific screen) to notify the user that theorder is ready. In some embodiments, the customer name is displayed atthe delivery gate 164 to notify the user that the order is ready. Insome embodiments, a message is sent to the user along with the accesscode once the order is ready at the delivery gate 164.

At various times between the time of placing an order and orderdelivery, a user may request to cancel the order. In some embodiments,after receiving the cancelation request, the server may check the statusof order. If the status of the order is “not-started,” the user mayreceive a full or partial refund, and the order may be removed from thequeue. If the status of the order is “ready” or “in-progress,” the ordermay be moved to the disposal station.

Some embodiments may slide open-top liquid vessels over a planar surfaceto workstations in a nonlinear (e.g., in the geometric sense) manner.Some embodiments transport the vessels with a plurality of actuatedmagnets underneath the planar surface to translate or rotate the vessel(e.g., imparting two or three degrees of freedom of movement to thevessel relative to an assembly system) to workstations above the planarsurface. The planar surface is configured to be non-magnetic material.

Some embodiments separate the vessels from robotic actuators with abarrier, like a planar surface upon which the vessel slides. In somecases, the actuators mechanically communicate across the barriermagnetically, e.g., by moving magnets below the surface to cause magnetsabove the surface to apply forces to the vessel, with no direct contact(or in some cases, shared airflow) between robot's actuator and theopen-top vessel. In some embodiments, the transportation system employsa set of three magnet pairs on a planar surface, surrounding a liquidvessel to move the vessel on the surface via magnetic actuatorsunderneath the surface.

In some embodiments, the translocation of the workpiece (e.g. open-topvessel) is accomplished by actuation of the controlled element withoutthe controlled element directly contacting the workpiece.

Some embodiments of coffee or other beverage preparation systemsdescribed herein are generally autonomous in the sense they arecontrolled without human input after initial placement of the beverageorder and during the preparation process.

In some embodiments, the stage may be untethered, e.g., battery powered.Some embodiments may have multiple instances of actuators below thesurface over which vessels are transported.

Some embodiments may mechanically move a vessel to various foodpreparation and ingredient adding stations (or other workstations) in afood vending setting, for example, a vending machine, a food truck, or acommercial kitchen.

Some embodiments use a system of actuated magnets underneath a planarsurface to move a vessel to various locations above the planar surface.

Some embodiments hide the actuating mechanism from customer view, whilemaking the end effectors and workpiece visible to the consumerthroughout the assembly process. Some embodiments allow foodconstruction and ingredient preparation to be visible.

Some embodiments can reduce customer wait times and allow for ingredientcustomization by dynamically scheduling use of workstations for multipleconcurrently processed orders.

FIG. 19 is a perspective cross-sectional view of another example of analimentary-product dispensing robot 301. The illustrated robot 301 mayinclude a lower portion 302 that is separated by movable barrier 304from an end effector 306, which may hold a workpiece, like a cup or bowlinto which various elementary substances are dispensed by dispensers308, depending upon the position of the end effector and workpiece 306being underneath and output of the various dispensers 308. In someembodiments, the barrier 304 may be mechanically coupled to the distalportion of the lower portion 302 that drives the end effector 306 and tothe end effector 306. For example, the end effector 306 may be coupledto the lower portion 302 by the movable barrier 304 or by a member thatpenetrates the movable barrier 304. In operation, the movable barrier304 may move along with the end effector 306, with zero degrees offreedom therebetween in some cases, sliding between plates 310 thatdefine a gap 314 into which the movable barrier 304 slides as the endeffector 306 moves a workpiece to receive various substances from thedifferent dispensers 308 or other workstations.

In some embodiments, the end effector 306 and barrier 304 are moved by arobot with two arms 316 and 318 coupled to a static base 320, which maybe fixed relative to an environment of the robot 300, like a floor of abrick-and-mortar store. In operation, the location of the end effector306 may be determined based upon rotation of the arms 316 and 318 aboutaxes 324 and 326. Thus, the lower portion 302 may have two degrees offreedom, i.e. the angular position of arm 316 about axes 324 relative toarm 318, and the angular position of arm 318 relative to the base 320about axis 326. Various types of actuators like those described above,such as stepper motors, may drive such rotation, in some cases, via aharmonic drive. In some embodiments, an additional station that is notshown may dispense cups or bowls, and another station may expose acompleted food or beverage product in the works piece to a consumer, forinstance, through a window through which the consumer reaches. In someembodiments, the barrier 304 may impede airflow between the lowerportion 302 and the side with the end effector 306 to reduceparticulates shared by the lower portion 302 ending up in the food orbeverage being assembled. Further, the two degrees of freedom, and insome cases only two degrees of freedom or only three degrees of freedomof the robot 300 with which the workpiece is moved may help reduce costsrelative to more complex, six access robots, for instance.

FIG. 20 is a perspective view of a working area over the barrier 166with a partial enclosure 500 (e.g., a pickup station in which a vesselwas not removed by a user within a threshold duration of time,indicating potentially that there is a need to dispose of the vessel)from which a workpiece 502 may be removed by end effectors 506 executinga sequence of moves discussed below with reference to FIGS. 21A through21F. In some embodiments, the enclosure 500 is a partial enclosure withan aperture 504 that is relatively narrow, for instance, narrower than adistance between outer diameters of adjacent end effectors 506 in theillustrated configuration.

FIGS. 21A through 21 illustrate sequential stages in a maneuver by whichend effectors 506 retrieve the work piece 502 from the partial enclosure500 of FIG. 20 . As shown in FIG. 21A, the end effectors 506 mayinitially approach the enclosure 500. As shown in FIG. 21B, a leadingset of two end effectors 506 may enter the aperture 504. As shown inFIG. 21C, the leading to end effectors 506 may move further apart fromone another, such that a distance 508 between the adjacent edges of theend effectors 506 is wider than a distance 510 of an outer diameter of abase of the work piece 502. As shown in FIG. 21D, end effectors 506 maythen continue to advance until the trailing end effector 506 makescontact with the work piece 502. As shown in FIG. 21E, the leading endeffectors 506 may then rotate about a central axis to come into contactwith the work piece 502, moving towards one another as they rotate. Asshown in FIG. 21F. The end effectors 506 may then remain in fixedpositions relative to the work piece 502, while the collection ofcomponents 506 and 502 may, as a group, move together out of theenclosure 500.

FIG. 22 is a perspective view of an example of an end effector 520 thatis also a workpiece. In this example, the work piece 520 is a cup, butthese techniques are also consistent with other types of open topvessels like bowls or other workpieces. In this example, the work piece520 includes an interior 522 that receives alimentary products likethose described above and an exterior 524. The work piece 520 furtherincludes a top rim 523 and an interior wall 528 and an exterior sidewall 526. The work piece 520 further includes a base 530 upon which thework piece 520 slides on the barrier 166. In this example, the workpiece 520 has secured thereto a set of magnetically responsive materialsor permanent magnets 534. In some embodiments, the components 534 aremagnets with polls oriented along an axis normal to the barrier 166, forexample, with alternating North and South poles orienting opposingdirections around the work piece 520.

FIG. 23 is an elevation view cross-section of the work piece 520 coupledto an end-effector mount 544. As illustrated, the bottom of the workpiece 520 may slide on a top surface 540 of barrier 166, while theend-effector mount 544 may contact a bottom surface 542 of the barrier166. In this example, the end effector mount 544 may include a set ofmagnets 546 that form a magnetic coupling with components 534 across thebarrier 166. Magnets 546 may have a complementary arrangement ofalternating North and South poles orienting opposing directions, e.g.,where it is desirable to engage with a workpiece along a preferentialaxis, as might be the case for a rectangular workpiece. As discussedabove, in some embodiments, the work piece 520 may itself be amagnetically responsive material, like a cup or bowl made from a ferrousmetal.

FIG. 24 is a perspective cutaway view of a portion of the kiosk aboveillustrating a ejector 600 operative to remove workpieces from the topsurface 540 of the barrier 166 and dispose of them below a bottomsurface 542. In some embodiments, the ejector 600 includes a carrier602, ejection member 604, and an actuator 606. In some embodiments, theactuator 606 is mechanically linked to the carrier 602, for example,with zero degrees of relative freedom, such that the actuator 606 isoperative to cause the carrier 602 to translate up and down, vertically,while the ejection member 604 may be held in fixed relation relative tothe rest of the kiosk, for example, remaining static while the carrier602 translates.

In some embodiments, the carrier 602 includes a base 610 and a ceiling608. The ceiling 608 and the base 610 may have thicknesses that aresimilar or identical to a thickness 616 of the barrier 166, for example,within a tolerance in which the end effector mounts described aboveremain magnetically coupled to the end effectors described above whensliding therebetween. In some embodiments a bottom surface of the base610 has a ramp like that described above, except inverted, or a topsurface of the base 610 may include a ramp, for example, betweenapertures 614 through which the ejection member 604 are inserted whenthe carrier 602 is in the retracted position, as it is depicted in FIG.24 . In some embodiments, the space between the base 610 and the ceiling608 may define a volume 612 in which a workpiece is carried down withthe carrier 602 during and ejection operation. In some embodiments,actuator 606 includes a linear drive with the motor 618 and a rail 620that translates through, and is driven by, the motor 618.

FIG. 25 is a perspective cutaway view that illustrates the ejector ofFIG. 24 in the extended position. As illustrated, the carrier 602 hastranslated upward, in direction 622 to bring the base 610 in alignmentwith the barrier 166, with the carrier 602 translating through anaperture 609 in the barrier 166. Aperture 609 may be a hole or a slothaving a shape that corresponds to that of the ceiling 608 and base 610,which may have shapes that correspond to (e.g., are the same as) oneanother, leaving (in both the retracted and extended positions) arelatively small gap between the aperture 609 and the base 610 orceiling 608 across which a workpiece may be conveyed by end effectorswithout decoupling a magnetic coupling to an end-effector mount.

In some embodiments, to dispose of a workpiece, the carrier may riseinto the position of FIG. 25 from the position of FIG. 24 . Then anend-effector mount and end effectors may carry the work piece onto thebase 610, across the gap with the aperture 609. In some embodiments, thework piece may then be decoupled, for example, by moving end effectorsback around the work piece to cease making contact with the work pieceor by driving the work piece onto a ramp like that described above or anend effector mount onto an inverted ramp like that described aboveunderneath the base 610 or on top of the base 610.

Once the work piece is at rest on top of the base 610, and theend-effector mount and end effectors are withdrawn away from the workpiece, outside the region of the barrier defined by aperture 609, theoperation by which the carrier 602 is extended may be reversed, and thecarrier 602 may retract, in a direction opposite that of 622, as drivenby the actuator 606. As the carrier 602 retracts, the ejection members604 may be inserted through slot 614, and the ejection members slopedupper surface may cause the work piece to translate horizontally, offthe base 610, and then into a refuse bin, for example, disposed adjacentand below the members 604.

The operation may continue until the ceiling 608 is aligned with thebarrier 166, for instance, and tell a top and bottom surface of theceiling 608 are aligned with the top surface 540 in the bottom surface542 of the barrier 166 to facilitate relatively free movement of endeffectors and end-effector mounts in regions otherwise occupied by theejector 600.

This patent is one of a set of four U.S. Patent Applications filed onthe same day by the same application bearing the following titles, eachof which is incorporated by reference in its entirety by the others:ISOLATING ROBOTIC ACTUATORS FROM FOOD AND BEVERAGE PREPARATION; REDUCINGCOST AND SIZE OF FOOD AND BEVERAGE PREPARATION ROBOTS; INCREASINGTHROUGHPUT OF FOOD AND BEVERAGE PREPARATION ROBOTS WITH CONCURRENTTRANSPORT OF WORKPIECES ALONG MULTIPLE AXES; and BREAKAWAY END-EFFECTORSFOR FOOD AND BEVERAGE PREPARATION ROBOTS.

FIG. 26 is a diagram that illustrates an exemplary computing system 1000that may execute code of the various controllers described above.Various portions of systems and methods described herein, may include orbe executed on one or more computer systems similar to computing system1000. Further, processes and modules described herein may be executed byone or more processing systems similar to that of computing system 1000.

Computing system 1000 may include one or more processors (e.g.,processors 1010 a-1010 n) coupled to system memory 1020, an input/outputI/O device interface 1030, and a network interface 1040 via aninput/output (I/O) interface 1050. A processor may include a singleprocessor or a plurality of processors (e.g., distributed processors). Aprocessor may be any suitable processor capable of executing orotherwise performing instructions. A processor may include a centralprocessing unit (CPU) that carries out program instructions to performthe arithmetical, logical, and input/output operations of computingsystem 1000. A processor may execute code (e.g., processor firmware, aprotocol stack, a database management system, an operating system, or acombination thereof) that creates an execution environment for programinstructions. A processor may include a programmable processor. Aprocessor may include general or special purpose microprocessors. Aprocessor may receive instructions and data from a memory (e.g., systemmemory 1020). Computing system 1000 may be a uni-processor systemincluding one processor (e.g., processor 1010 a), or a multi-processorsystem including any number of suitable processors (e.g., 1010 a-1010n). Multiple processors may be employed to provide for parallel orsequential execution of one or more portions of the techniques describedherein. Processes, such as logic flows, described herein may beperformed by one or more programmable processors executing one or morecomputer programs to perform functions by operating on input data andgenerating corresponding output. Processes described herein may beperformed by, and apparatus can also be implemented as, special purposelogic circuitry, e.g., an FPGA (field programmable gate array) or anASIC (application specific integrated circuit). Computing system 1000may include a plurality of computing devices (e.g., distributed computersystems) to implement various processing functions.

I/O device interface 1030 may provide an interface for connection of oneor more I/O devices 1060 to computer system 1000. I/O devices mayinclude devices that receive input (e.g., from a user) or outputinformation (e.g., to a user). I/O devices 1060 may include, forexample, graphical user interface presented on displays (e.g., a cathoderay tube (CRT) or liquid crystal display (LCD) monitor), pointingdevices (e.g., a computer mouse or trackball), keyboards, keypads,touchpads, scanning devices, voice recognition devices, gesturerecognition devices, printers, audio speakers, microphones, cameras, orthe like. I/O devices 1060 may be connected to computer system 1000through a wired or wireless connection. I/O devices 1060 may beconnected to computer system 1000 from a remote location. I/O devices1060 located on remote computer system, for example, may be connected tocomputer system 1000 via a network and network interface 1040.

Network interface 1040 may include a network adapter that provides forconnection of computer system 1000 to a network. Network interface may1040 may facilitate data exchange between computer system 1000 and otherdevices connected to the network. Network interface 1040 may supportwired or wireless communication. The network may include an electroniccommunication network, such as the Internet, a local area network (LAN),a wide area network (WAN), a cellular communications network, or thelike.

System memory 1020 may be configured to store program instructions 1100or data 1110. Program instructions 1100 may be executable by a processor(e.g., one or more of processors 1010 a-1010 n) to implement one or moreembodiments of the present techniques. Instructions 1100 may includemodules of computer program instructions for implementing one or moretechniques described herein with regard to various processing modules.Program instructions may include a computer program (which in certainforms is known as a program, software, software application, script, orcode). A computer program may be written in a programming language,including compiled or interpreted languages, or declarative orprocedural languages. A computer program may include a unit suitable foruse in a computing environment, including as a stand-alone program, amodule, a component, or a subroutine. A computer program may or may notcorrespond to a file in a file system. A program may be stored in aportion of a file that holds other programs or data (e.g., one or morescripts stored in a markup language document), in a single filededicated to the program in question, or in multiple coordinated files(e.g., files that store one or more modules, sub programs, or portionsof code). A computer program may be deployed to be executed on one ormore computer processors located locally at one site or distributedacross multiple remote sites and interconnected by a communicationnetwork.

System memory 1020 may include a tangible program carrier having programinstructions stored thereon. A tangible program carrier may include anon-transitory computer readable storage medium. A non-transitorycomputer readable storage medium may include a machine readable storagedevice, a machine readable storage substrate, a memory device, or anycombination thereof. Non-transitory computer readable storage medium mayinclude non-volatile memory (e.g., flash memory, ROM, PROM, EPROM,EEPROM memory), volatile memory (e.g., random access memory (RAM),static random access memory (SRAM), synchronous dynamic RAM (SDRAM)),bulk storage memory (e.g., CD-ROM and/or DVD-ROM, hard-drives), or thelike. System memory 1020 may include a non-transitory computer readablestorage medium that may have program instructions stored thereon thatare executable by a computer processor (e.g., one or more of processors1010 a-1010 n) to cause the subject matter and the functional operationsdescribed herein. A memory (e.g., system memory 1020) may include asingle memory device and/or a plurality of memory devices (e.g.,distributed memory devices). Instructions or other program code toprovide the functionality described herein may be stored on a tangible,non-transitory computer readable media. In some cases, the entire set ofinstructions may be stored concurrently on the media, or in some cases,different parts of the instructions may be stored on the same media atdifferent times.

I/O interface 1050 may be configured to coordinate I/O traffic betweenprocessors 1010 a-1010 n, system memory 1020, network interface 1040,I/O devices 1060, and/or other peripheral devices. I/O interface 1050may perform protocol, timing, or other data transformations to convertdata signals from one component (e.g., system memory 1020) into a formatsuitable for use by another component (e.g., processors 1010 a-1010 n).I/O interface 1050 may include support for devices attached throughvarious types of peripheral buses, such as a variant of the PeripheralComponent Interconnect (PCI) bus standard or the Universal Serial Bus(USB) standard.

Embodiments of the techniques described herein may be implemented usinga single instance of computer system 1000 or multiple computer systems1000 configured to host different portions or instances of embodiments.Multiple computer systems 1000 may provide for parallel or sequentialprocessing/execution of one or more portions of the techniques describedherein.

Those skilled in the art will appreciate that computer system 1000 ismerely illustrative and is not intended to limit the scope of thetechniques described herein. Computer system 1000 may include anycombination of devices or software that may perform or otherwise providefor the performance of the techniques described herein. For example,computer system 1000 may include or be a combination of acloud-computing system, a data center, a server rack, a server, avirtual server, a desktop computer, a laptop computer, a tabletcomputer, a server device, a client device, a mobile telephone, apersonal digital assistant (PDA), a mobile audio or video player, a gameconsole, a vehicle-mounted computer, or a Global Positioning System(GPS), or the like. Computer system 1000 may also be connected to otherdevices that are not illustrated, or may operate as a stand-alonesystem. In addition, the functionality provided by the illustratedcomponents may in some embodiments be combined in fewer components ordistributed in additional components. Similarly, in some embodiments,the functionality of some of the illustrated components may not beprovided or other additional functionality may be available.

Those skilled in the art will also appreciate that while various itemsare illustrated as being stored in memory or on storage while beingused, these items or portions of them may be transferred between memoryand other storage devices for purposes of memory management and dataintegrity. Alternatively, in other embodiments some or all of thesoftware components may execute in memory on another device andcommunicate with the illustrated computer system via inter-computercommunication. Some or all of the system components or data structuresmay also be stored (e.g., as instructions or structured data) on acomputer-accessible medium or a portable article to be read by anappropriate drive, various examples of which are described above. Insome embodiments, instructions stored on a computer-accessible mediumseparate from computer system 1000 may be transmitted to computer system1000 via transmission media or signals such as electrical,electromagnetic, or digital signals, conveyed via a communication mediumsuch as a network or a wireless link. Various embodiments may furtherinclude receiving, sending, or storing instructions or data implementedin accordance with the foregoing description upon a computer-accessiblemedium. Accordingly, the present techniques may be practiced with othercomputer system configurations.

In block diagrams, illustrated components are depicted as discretefunctional blocks, but embodiments are not limited to systems in whichthe functionality described herein is organized as illustrated. Thefunctionality provided by each of the components may be provided bysoftware or hardware modules that are differently organized than ispresently depicted, for example such software or hardware may beintermingled, conjoined, replicated, broken up, distributed (e.g. withina data center or geographically), or otherwise differently organized.The functionality described herein may be provided by one or moreprocessors of one or more computers executing code stored on a tangible,non-transitory, machine readable medium. In some cases, notwithstandinguse of the singular term “medium,” the instructions may be distributedon different storage devices associated with different computingdevices, for instance, with each computing device having a differentsubset of the instructions, an implementation consistent with usage ofthe singular term “medium” herein. In some cases, third party contentdelivery networks may host some or all of the information conveyed overnetworks, in which case, to the extent information (e.g., content) issaid to be supplied or otherwise provided, the information may provideby sending instructions to retrieve that information from a contentdelivery network.

The reader should appreciate that the present application describesseveral independently useful techniques. Rather than separating thosetechniques into multiple isolated patent applications, applicants havegrouped these techniques into a single document because their relatedsubject matter lends itself to economies in the application process. Butthe distinct advantages and aspects of such techniques should not beconflated. In some cases, embodiments address all of the deficienciesnoted herein, but it should be understood that the techniques areindependently useful, and some embodiments address only a subset of suchproblems or offer other, unmentioned benefits that will be apparent tothose of skill in the art reviewing the present disclosure. Due to costsconstraints, some techniques disclosed herein may not be presentlyclaimed and may be claimed in later filings, such as continuationapplications or by amending the present claims. Similarly, due to spaceconstraints, neither the Abstract nor the Summary of the Inventionsections of the present document should be taken as containing acomprehensive listing of all such techniques or all aspects of suchtechniques.

It should be understood that the description and the drawings are notintended to limit the present techniques to the particular formdisclosed, but to the contrary, the intention is to cover allmodifications, equivalents, and alternatives falling within the spiritand scope of the present techniques as defined by the appended claims.Further modifications and alternative embodiments of various aspects ofthe techniques will be apparent to those skilled in the art in view ofthis description. Accordingly, this description and the drawings are tobe construed as illustrative only and are for the purpose of teachingthose skilled in the art the general manner of carrying out the presenttechniques. It is to be understood that the forms of the presenttechniques shown and described herein are to be taken as examples ofembodiments. Elements and materials may be substituted for thoseillustrated and described herein, parts and processes may be reversed oromitted, and certain features of the present techniques may be utilizedindependently, all as would be apparent to one skilled in the art afterhaving the benefit of this description of the present techniques.Changes may be made in the elements described herein without departingfrom the spirit and scope of the present techniques as described in thefollowing claims. Headings used herein are for organizational purposesonly and are not meant to be used to limit the scope of the description.

As used throughout this application, the word “may” is used in apermissive sense (i.e., meaning having the potential to), rather thanthe mandatory sense (i.e., meaning must). The words “include”,“including”, and “includes” and the like mean including, but not limitedto. As used throughout this application, the singular forms “a,” “an,”and “the” include plural referents unless the content explicitlyindicates otherwise. Thus, for example, reference to “an element” or “aelement” includes a combination of two or more elements, notwithstandinguse of other terms and phrases for one or more elements, such as “one ormore.” The term “or” is, unless indicated otherwise, non-exclusive,i.e., encompassing both “and” and “or.” Terms describing conditionalrelationships, e.g., “in response to X, Y,” “upon X, Y,”, “if X, Y,”“when X, Y,” and the like, encompass causal relationships in which theantecedent is a necessary causal condition, the antecedent is asufficient causal condition, or the antecedent is a contributory causalcondition of the consequent, e.g., “state X occurs upon condition Yobtaining” is generic to “X occurs solely upon Y” and “X occurs upon Yand Z.” Such conditional relationships are not limited to consequencesthat instantly follow the antecedent obtaining, as some consequences maybe delayed, and in conditional statements, antecedents are connected totheir consequents, e.g., the antecedent is relevant to the likelihood ofthe consequent occurring. Statements in which a plurality of attributesor functions are mapped to a plurality of objects (e.g., one or moreprocessors performing steps A, B, C, and D) encompasses both all suchattributes or functions being mapped to all such objects and subsets ofthe attributes or functions being mapped to subsets of the attributes orfunctions (e.g., both all processors each performing steps A-D, and acase in which processor 1 performs step A, processor 2 performs step Band part of step C, and processor 3 performs part of step C and step D),unless otherwise indicated. Similarly, reference to “a computer system”performing step A and “the computer system” performing step B caninclude the same computing device within the computer system performingboth steps or different computing devices within the computer systemperforming steps A and B. Further, unless otherwise indicated,statements that one value or action is “based on” another condition orvalue encompass both instances in which the condition or value is thesole factor and instances in which the condition or value is one factoramong a plurality of factors. Unless otherwise indicated, statementsthat “each” instance of some collection have some property should not beread to exclude cases where some otherwise identical or similar membersof a larger collection do not have the property, i.e., each does notnecessarily mean each and every. Limitations as to sequence of recitedsteps should not be read into the claims unless explicitly specified,e.g., with explicit language like “after performing X, performing Y,” incontrast to statements that might be improperly argued to imply sequencelimitations, like “performing X on items, performing Y on the X'editems,” used for purposes of making claims more readable rather thanspecifying sequence. Statements referring to “at least Z of A, B, andC,” and the like (e.g., “at least Z of A, B, or C”), refer to at least Zof the listed categories (A, B, and C) and do not require at least Zunits in each category. Unless specifically stated otherwise, asapparent from the discussion, it is appreciated that throughout thisspecification discussions utilizing terms such as “processing,”“computing,” “calculating,” “determining” or the like refer to actionsor processes of a specific apparatus, such as a special purpose computeror a similar special purpose electronic processing/computing device.Features described with reference to geometric constructs, like“parallel,” “perpendicular/orthogonal,” “square”, “cylindrical,” and thelike, should be construed as encompassing items that substantiallyembody the properties of the geometric construct, e.g., reference to“parallel” surfaces encompasses substantially parallel surfaces. Thepermitted range of deviation from Platonic ideals of these geometricconstructs is to be determined with reference to ranges in thespecification, and where such ranges are not stated, with reference toindustry norms in the field of use, and where such ranges are notdefined, with reference to industry norms in the field of manufacturingof the designated feature, and where such ranges are not defined,features substantially embodying a geometric construct should beconstrued to include those features within 15% of the definingattributes of that geometric construct. The terms “first”, “second”,“third,” “given” and so on, if used in the claims, are used todistinguish or otherwise identify, and not to show a sequential ornumerical limitation. As is the case in ordinary usage in the field,data structures and formats described with reference to uses salient toa human need not be presented in a human-intelligible format toconstitute the described data structure or format, e.g., text need notbe rendered or even encoded in Unicode or ASCII to constitute text;images, maps, and data-visualizations need not be displayed or decodedto constitute images, maps, and data-visualizations, respectively;speech, music, and other audio need not be emitted through a speaker ordecoded to constitute speech, music, or other audio, respectively.Computer implemented instructions, commands, and the like are notlimited to executable code and can be implemented in the form of datathat causes functionality to be invoked, e.g., in the form of argumentsof a function or API call.

In this patent, to the extent any U.S. patents, U.S. patentapplications, or other materials (e.g., articles) have been incorporatedby reference, the text of such materials is only incorporated byreference to the extent that no conflict exists between such materialand the statements and drawings set forth herein. In the event of suchconflict, the text of the present document governs, and terms in thisdocument should not be given a narrower reading in virtue of the way inwhich those terms are used in other materials incorporated by reference.

The present techniques will be better understood with reference to thefollowing enumerated embodiments:

-   -   1. A device, comprising: a controller; a first actuator        configured to be controlled by the controller; a first primary        member, located on the first actuator; a first secondary member;        and a sheet having a first side and a second side, wherein: the        first primary member is located on the first side of sheet and        the first secondary member is located on the second side of        sheet, the first primary member is coupled to the first        secondary member across the sheet via a coupling force, and the        first secondary member is configured to slide on the second side        of the sheet, following the first primary member, actuated by        the first actuator based on instructions from the controller.    -   2. The device of embodiment 1, wherein: the sheet is        magnetically transparent; the coupling force is a magnetic force        exerted by the first primary member on the first secondary        member; and the device comprises: a coffee dispenser on the        second side of the sheet; a dispenser of grains on the second        side of the sheet; or a salad dispenser on the second side of        the sheet.    -   3. The device of embodiment 2, wherein the first primary member        comprises a permanent magnet.    -   4. The device of embodiment 2, wherein: the first primary member        comprises at least one rare earth magnet; the first secondary        member comprising at least one magnetically attractable        material; and the at least one rare earth magnet of the first        primary member is configured to magnetically attract the at        least one magnetically attractable material in the first        secondary member.    -   5. The device of embodiment 4, wherein: the at least one rare        earth magnet of the first primary member has a magnetic pole        oriented perpendicular to the sheet.    -   6. The device of embodiment 2, the device further comprising: a        second primary member located on the first actuator; a third        primary member located on the first actuator; a second secondary        member located on the second side of the sheet; and a third        secondary member located on the second side of the sheet,        wherein, the second primary member is magnetically coupled to        the second secondary member and the third primary member is        magnetically coupled to the third secondary member.    -   7. The device of embodiment 6, wherein the first, the second,        and the third primary members are situated in an equilateral        triangle configuration on the first actuator.    -   8. The device of embodiment 7, wherein: the first actuator is        configured to move the first, the second, and the third primary        members inward and outward radially.    -   9. The device of embodiment 8, wherein: the first, the second,        and the third secondary members are configured to surround and        grab an open-top vessel upon being moved inward radially.    -   10. The device of embodiment 9, wherein the first secondary        member comprises a housing that envelopes a magnet prevent        direct contact of the open-top vessel with the magnet.    -   11. The device of embodiment 7, wherein: the first actuator is        configured to rotate an assembly of the first primary member,        the second primary member, and the third primary member around        an axis perpendicular to a plane defined by the equilateral        triangle configuration, the axis intersecting the plane at or        near a center of the equilateral triangle configuration.    -   12. The device of any one of embodiments 1-11, the device        further comprising: a first plurality of bearings disposed        between the first primary member and the first side of the        sheet; and a second plurality of bearings disposed between the        first secondary member and the second side of the sheet.    -   13. The device of any one of embodiments 1-12, wherein: the        sheet is an air-permeable barrier; the device comprises an air        pump or fan configured to maintain higher air pressure on the        second side of the sheet than the first side of the sheet; and        the first primary member is coupled to the secondary member via        a suction force induced by a vacuum pump connected to the first        primary member.    -   14. The device of any one of embodiments 1-12, wherein the sheet        is a rigid, non-ferrous, non-magnetic barrier of substantially        uniform thickness over a work area of the actuator.    -   15. The device of any one of embodiments 1-14, wherein: the        first actuator is coupled, with zero degrees of freedom, to a        robotic motion system having two degrees of freedom, the robotic        motion system comprising: a first rail, having a first end and a        second end; a second rail, spaced from the first rail, the        second rail having a first end and a second end, wherein the        first rail and the second rail are parallel to one another; a        gantry, positioned perpendicular to the first rail and the        second rail, the gantry having a first end movable along the        first rail and a second end movable along the second rail; a        second actuator coupled to the first rail to move the gantry        along the first rail, between the first end and the second end        of the first rail, wherein the first actuator is under control        of the controller; a shaft configured to connect the first        actuator to the gantry; a third actuator coupled to the gantry        to displace the first actuator along the gantry, between the        first end and the second end of the gantry, wherein the third        actuator is under control of the controller; a first position        sensor, coupled to the controller, disposed to measure a        position of the gantry with respect to the first rail; and a        second position sensor, coupled to the controller, disposed to        measure a position of the carrier with respect to the gantry,        wherein the controller is configured to cause the second        actuator and the third actuator to move the shaft and to        calculate a position of the actuator based on signals from the        first position sensor and the second position sensor.    -   16. The device of embodiment 15, wherein: the first actuator is        configured to adjust the distance between the first primary        member and the first side of the sheet, and the first primary        member is configured to decouple from the first secondary member        as the first primary member moves away from the first side of        sheet.    -   17. The device of embodiment 16, the device further comprising:        a fourth secondary member located on the second side of the        sheet; wherein the first primary member is configured to        decouple from the first secondary member and to couple with the        fourth secondary member using the first actuator, the second        actuator, and the third actuator.    -   18. The device of embodiment 15, wherein: the sheet has a first        region with a first thickness and a second region with a second        thickness, wherein: the first thickness is less than the second        thickness; and the sheet is magnetically transparent; the        coupling force is a magnetic force exerted by the first primary        member to the first secondary member; and the first primary        member is configured to be decoupled from the first secondary        member by moving the first primary member from the first region        of the sheet to the second region of the sheet.    -   19. The device of any one of embodiments 1-18, the device        further comprising: a fifth secondary member, wherein the first        primary member is simultaneously coupled to the first secondary        member and the fifth secondary member.    -   20. A method of maneuvering of object, the method comprising:        receiving, via a controller, an instruction to move an object;        and connecting the object to a secondary member of a device, the        device comprising: a actuator configured to be controlled by the        controller; a primary member, located on the actuator; and a        sheet having a first side and a second side, wherein: the        primary member is located on the first side of sheet and the        secondary member is located on the second side of sheet, the        primary member is coupled to the secondary member across the        sheet via a coupling force, and the secondary member is        configured to slide on the second side of the sheet, following        the primary member, actuated by the actuator based on        instructions from the controller.    -   21. A device, comprising: a barrier configured to impeded or        prevent particles shed by a robot in a first volume of space        from entering a second volume of space in which the robot        manipulates a workpiece; and a robot having three or more        degrees of freedom, the robot comprising: a first portion        disposed on a first side of the barrier in the first volume, the        first portion comprising an actuator of the robot, the actuator        being configured to drive movement of the robot to manipulate        the workpiece; and a second portion disposed on a second side of        the barrier in the second volume, the second portion comprising        an end-effector of the robot by which the robot makes contact        with the workpiece.    -   22. The device of embodiment 21, wherein: the second volume        comprises a plurality of alimentary-product dispensers disposed        at different static locations to which the robot is configured        move workpiece; and the workpiece is an open-top vessel.    -   23. The device of embodiment 22, wherein: the open-top vessel is        a coffee cup; and the plurality of alimentary-product dispensers        comprise: a coffee dispenser; a dairy dispenser; and a sweetener        dispenser.    -   24. The device of embodiment 22, wherein: the plurality of        alimentary-product dispensers comprise a printer configured to        print a pattern on latte foam in the coffee cup.    -   25. The device of any one of embodiments 21-24, wherein: the        second volume comprises a plurality of alimentary-product which        the robot is configured move over the workpiece while the        workpiece remains static; and the workpiece is an open-top        vessel.    -   26. The device of any one of embodiments 21-25, wherein: the        barrier is a magnetically transparent sheet; and the end        effector is coupled to the first portion via a magnetic force.    -   27. The device of embodiment 26, wherein: the end effector        comprises a permanent magnet; and the first portion comprises an        electromagnet configured to selectively magnetically engage the        permanent magnet responsive to commands from a controller.    -   28. The device of embodiment 26, wherein: the first portion is        coupled to the second portion via the barrier or a member        extending through the barrier; the barrier is coupled to the        first portion with zero degrees of freedom relative to where the        barrier is coupled to the first portion.    -   29. The device of any one of embodiments 21-28, wherein: the        first portion has two and only two degrees of freedom relative        to an environment of the robot; and the end effector has one and        only one degree of freedom relative to the first portion.    -   30. The device of any one of embodiments 21-29, wherein: the two        and only two degrees of freedom are orthogonal to one another;        and the adjustment along the one and only one degree of freedom        is configured to cause a plurality of end effectors, including        the end effector, to move radially outward from one another.

What is claimed is:
 1. A device, comprising: a controller; a firstactuator configured to be controlled by the controller; a first primarymember, located on the first actuator; a first secondary member; and asheet having a first side and a second side, wherein: the first primarymember is located on the first side of sheet and the first secondarymember is located on the second side of sheet, the first primary memberis coupled to the first secondary member across the sheet via a couplingforce, and the first secondary member is configured to slide on thesecond side of the sheet, following the first primary member, actuatedby the first actuator based on instructions from the controller.
 2. Thedevice of claim 1, wherein: the sheet is magnetically transparent; thecoupling force is a magnetic force exerted by the first primary memberon the first secondary member; and the device comprises: a coffeedispenser on the second side of the sheet; a dispenser of grains on thesecond side of the sheet; or a salad dispenser on the second side of thesheet.
 3. The device of claim 2, wherein the first primary membercomprises a permanent magnet.
 4. The device of claim 2, wherein: thefirst primary member comprises at least one rare earth magnet; the firstsecondary member comprising at least one magnetically attractablematerial; and the at least one rare earth magnet of the first primarymember is configured to magnetically attract the at least onemagnetically attractable material in the first secondary member.
 5. Thedevice of claim 4, wherein: the at least one rare earth magnet of thefirst primary member has a magnetic pole oriented perpendicular to thesheet.
 6. The device of claim 2, the device further comprising: a secondprimary member located on the first actuator; a third primary memberlocated on the first actuator; a second secondary member located on thesecond side of the sheet; and a third secondary member located on thesecond side of the sheet, wherein, the second primary member ismagnetically coupled to the second secondary member and the thirdprimary member is magnetically coupled to the third secondary member. 7.The device of claim 6, wherein the first, the second, and the thirdprimary members are situated in an equilateral triangle configuration onthe first actuator.
 8. The device of claim 7, wherein: the firstactuator is configured to move the first, the second, and the thirdprimary members inward and outward radially.
 9. The device of claim 8,wherein: the first, the second, and the third secondary members areconfigured to surround and grab an open-top vessel upon being movedinward radially.
 10. The device of claim 9, wherein the first secondarymember comprises a housing that envelopes a magnet prevent directcontact of the open-top vessel with the magnet.
 11. The device of claim7, wherein: the first actuator is configured to rotate an assembly ofthe first primary member, the second primary member, and the thirdprimary member around an axis perpendicular to a plane defined by theequilateral triangle configuration, the axis intersecting the plane ator near a center of the equilateral triangle configuration.
 12. Thedevice of claim 1, the device further comprising: a first plurality ofbearings disposed between the first primary member and the first side ofthe sheet; and a second plurality of bearings disposed between the firstsecondary member and the second side of the sheet.
 13. The device ofclaim 1, wherein: the sheet is an air-permeable barrier; the devicecomprises an air pump or fan configured to maintain higher air pressureon the second side of the sheet than the first side of the sheet; andthe first primary member is coupled to the secondary member via asuction force induced by a vacuum pump connected to the first primarymember.
 14. The device of claim 1, wherein the sheet is a rigid,non-ferrous, non-magnetic barrier of substantially uniform thicknessover a work area of the actuator.
 15. The device of claim 1, wherein:the first actuator is coupled, with zero degrees of freedom, to arobotic motion system having two degrees of freedom, the robotic motionsystem comprising: a first rail, having a first end and a second end; asecond rail, spaced from the first rail, the second rail having a firstend and a second end, wherein the first rail and the second rail areparallel to one another; a gantry, positioned perpendicular to the firstrail and the second rail, the gantry having a first end movable alongthe first rail and a second end movable along the second rail; a secondactuator coupled to the first rail to move the gantry along the firstrail, between the first end and the second end of the first rail,wherein the first actuator is under control of the controller; a shaftconfigured to connect the first actuator to the gantry; a third actuatorcoupled to the gantry to displace the first actuator along the gantry,between the first end and the second end of the gantry, wherein thethird actuator is under control of the controller; a first positionsensor, coupled to the controller, disposed to measure a position of thegantry with respect to the first rail; and a second position sensor,coupled to the controller, disposed to measure a position of the carrierwith respect to the gantry, wherein the controller is configured tocause the second actuator and the third actuator to move the shaft andto calculate a position of the actuator based on signals from the firstposition sensor and the second position sensor.
 16. The device of claim15, wherein: the first actuator is configured to adjust the distancebetween the first primary member and the first side of the sheet, andthe first primary member is configured to decouple from the firstsecondary member as the first primary member moves away from the firstside of sheet.
 17. The device of claim 16, the device furthercomprising: a fourth secondary member located on the second side of thesheet; wherein the first primary member is configured to decouple fromthe first secondary member and to couple with the fourth secondarymember using the first actuator, the second actuator, and the thirdactuator.
 18. The device of claim 15, wherein: the sheet has a firstregion with a first thickness and a second region with a secondthickness, wherein: the first thickness is less than the secondthickness; and the sheet is magnetically transparent; the coupling forceis a magnetic force exerted by the first primary member to the firstsecondary member; and the first primary member is configured to bedecoupled from the first secondary member by moving the first primarymember from the first region of the sheet to the second region of thesheet.
 19. The device of claim 1, the device further comprising: a fifthsecondary member, wherein the first primary member is simultaneouslycoupled to the first secondary member and the fifth secondary member.20. A method of maneuvering of object, the method comprising: receiving,via a controller, an instruction to move an object; and connecting theobject to a secondary member of a device, the device comprising: aactuator configured to be controlled by the controller; a primarymember, located on the actuator; and a sheet having a first side and asecond side, wherein: the primary member is located on the first side ofsheet and the secondary member is located on the second side of sheet,the primary member is coupled to the secondary member across the sheetvia a coupling force, and the secondary member is configured to slide onthe second side of the sheet, following the primary member, actuated bythe actuator based on instructions from the controller.